Chen L.,Guangxi University |
Chen L.,Guangxi Key Laboratory of Manufacturing System & Advanced Manufacturing Technology |
Cheng Z.,Guangxi University |
Huang B.,Guangxi University |
And 3 more authors.
Zhongguo Jixie Gongcheng/China Mechanical Engineering | Year: 2016
The mismatch of dual-axis servo gain parameters might bring negative impacts on the issues of synchronization in dual-drive system. To solve this problem, the relationship among tracking errors from single axis and the synchronization errors from dual-axis was investigated, by analysis of steady-state-error from single axis. Then the analytic formula of the synchronization errors was derived as reference position of ramp type applied. And then the quantitative relationship among the synchronization errors and parameters (the dual servo gain and feed rate) was built and determined. Furthermore, two novel compensation strategies for compensating synchronization errors were raised by introducing velocity factor into cross-coupling controller. Experimental and simulation results were given to verify the validity of the proposed scheme for obtaining synchronization errors. It can also be proved that both of two strategies can suppress synchronization errors effectively, which is caused by dual-axis servo gain mismatch. And the dynamic responses of single axis system is not affected after the proposed control strategies applied. By comparison of the two compensation strategies, smoother curve of synchronization errors may be obtained using the second compensation strategy. © 2016, China Mechanical Engineering Magazine Office. All right reserved.
Pan H.,Guangxi University |
Pan H.,Guangxi Key Laboratory of Manufacturing System & Advanced Manufacturing Technology |
Dai J.,Guangxi University |
Dai J.,Guangxi Key Laboratory of Manufacturing System & Advanced Manufacturing Technology |
And 8 more authors.
Jisuanji Fuzhu Sheji Yu Tuxingxue Xuebao/Journal of Computer-Aided Design and Computer Graphics | Year: 2014
The existing collision detection algorithms for multi-robot are excessively time-consuming. To speed up the process, a parallel collision detection algorithm using dynamic bounding volume tree with a three-layer hierarchy was proposed. This new hierarchy consists of an upper dynamic removal layer, a middle link layer and a bottom layer. Firstly, the three-layer hierarchy was adopted to build a dynamic bounding volume tree between every two robots. Secondly, a parallel architecture was designed to compute each layer respectively and speed up the calculation in parallel. Lastly, parallel computing collision detection was implemented based on the three parallel structures using the OpenMP. Experiments performed on a 6/8 robots workstation and the analysis of time complexity show that under the same experimental conditions, when parallel computing the middle link layer and the bottom layer of the dynamic bounding volume tree, the efficiency of collision detection is about two times faster than that of the original data structure, and over four times faster than that of RAPID. The proposed parallel architecture fully takes advantage of the hierarchical structure of the dynamic bounding volume tree, and effectively improves the efficiency of collision detection among multi-robot. ©, 2014, Institute of Computing Technology. All right reserved.