Real-Time Control System for Improved Precision and Throughput in an Ultrafast Carbon Fiber Placement Robot Using a SoC FPGA Extended Processing Platform
Joint Authors
Ochoa-Ruiz, Gilberto
Bevan, Romain
de Lamotte, Florent
Bao, Cheng-Cong
Diguet, Jean Philippe
Source
International Journal of Reconfigurable Computing
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-20, 20 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-07-05
Country of Publication
Egypt
No. of Pages
20
Main Subjects
Information Technology and Computer Science
Abstract EN
We present an architecture for accelerating the processing and execution of control commands in an ultrafast fiber placement robot.
The system consists of a robotic arm designed by Coriolis Composites whose purpose is to move along a surface, on which composite fibers are deposed, via an independently controlled head.
In first system implementation, the control commands were sent via Profibus by a PLC, limiting the reaction time and thus the precision of the fiber placement and the maximum throughput.
Therefore, a custom real-time solution was imperative in order to ameliorate the performance and to meet the stringent requirements of the target industry (avionics, aeronautical systems).
The solution presented in this paper is based on the use of a SoC FPGA processing platform running a real-time operating system (FreeRTOS), which has enabled an improved comamnd retrieval mechanism.
The system’s placement precision was improved by a factor of 20 (from 1 mm to 0.05 mm), while the maximum achievable throughput was 1 m/s, compared to the average 30 cm/s provided by the original solution, enabling fabricating more complex and larger pieces in a significant fraction of the time.
American Psychological Association (APA)
Ochoa-Ruiz, Gilberto& Bevan, Romain& de Lamotte, Florent& Diguet, Jean Philippe& Bao, Cheng-Cong. 2017. Real-Time Control System for Improved Precision and Throughput in an Ultrafast Carbon Fiber Placement Robot Using a SoC FPGA Extended Processing Platform. International Journal of Reconfigurable Computing،Vol. 2017, no. 2017, pp.1-20.
https://search.emarefa.net/detail/BIM-1169416
Modern Language Association (MLA)
Ochoa-Ruiz, Gilberto…[et al.]. Real-Time Control System for Improved Precision and Throughput in an Ultrafast Carbon Fiber Placement Robot Using a SoC FPGA Extended Processing Platform. International Journal of Reconfigurable Computing No. 2017 (2017), pp.1-20.
https://search.emarefa.net/detail/BIM-1169416
American Medical Association (AMA)
Ochoa-Ruiz, Gilberto& Bevan, Romain& de Lamotte, Florent& Diguet, Jean Philippe& Bao, Cheng-Cong. Real-Time Control System for Improved Precision and Throughput in an Ultrafast Carbon Fiber Placement Robot Using a SoC FPGA Extended Processing Platform. International Journal of Reconfigurable Computing. 2017. Vol. 2017, no. 2017, pp.1-20.
https://search.emarefa.net/detail/BIM-1169416
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1169416