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Industrial robots are integrated in the automatic assembly to reduce human errors and to lead time. In the meanwhile, vision system has an important role in the robotic guidance. The data transfer between the vision system and robots presents a great interesting challenge. This work focuses on the real-time control of a SCARA robot through multi-platforms software applications. The method of this design is based on Hue, Saturation and Value (HSV) color identification and a software model that provides the data transfer between different operating systems. The exchanged data needs synchronization and stability between the various operating systems. From the result, the proposed software solution can analyze the received data and safely send the feedback to the robot. This novel type of communication provides also a high precision and accuracy manner for the robotic arm.

The design of embedded control systems is rapidly change during the last decade. Guaranteeing the safety of these systems is a very challenging topic. It is possible to identify two main factors that are involved in the control of those systems: Hardware/Software (HW-SW) codesign and dynamic reconfiguration. Furthermore, the use of an embedded operating system associated with a functional module library is required for the establishment of an efficient co-design solution. This paper aims to propose an appropriate co-design methodology for closed loop DC motor control based on Field Programmable Gate Arrays (FPGA) and low cost platform Beaglebone board supported by a Linux operating system. The dynamic reconfiguration of the control system is provided by an embedded web server implemented on Beaglebone.

This paper presents the possibility to use cheap credit-card sized computer like Beaglebone board for realization of real-time motor control-namely the DC motor speed control based on PI-controller. It describes the design and implementation of software to determine the speed of the motor and feedback control. The software design integrates three modules which were developed as user space applications and kernel modules. The DC motor is equipped with an incremental encoder to define the speed and connected to Beaglebone board with designed interface. A graphic user interface for monitoring and control has been developed under embedded Linux web server implemented on Beaglebone to fix PI controller parameters (integral gain Ki, proportional gain Kp) and the set point.

Recently, the complexity of the embedded electrical systems is increasing due to the growing of industrial necessities. To handle with this complexity, the use of reconfigurable hardware/software codesign methodology using digital platforms becomes necessary. Reconfigurable methodology can be seen as an essential feature in motor control systems as it offers many advantages such as increased flexibility, low energy consumption. In these kind of systems, both hardware and software designs can be reconfigurated depending upon the designer requirements. This paper presents hardware/software codesign methodology with flexible hardware devices and configurable graphical user interface: the hardware architecture is based on field-programmable gate array and the software architecture is based on embedded Linux operating system running on Beaglebone. The user interface is designed as a graphical user interface developed on an emebdded server; this enables the user to access to the system rapidly, parameterize and observe the behavior of the controller.

The aim of this paper is to examine the advantages of using delta-operator to design a digital system emulator for the real-time Hardware-In-the-Loop (HIL) simulation of an AC drive application. A synchronous motor has been taken as a case study. To suit high accuracy and increase the realism of the test, the use of high sampling frequency is crucial. A comparison with a classical shift-operator based emulator is made in terms of precision and stability of the system. The continuous-time state-space model of the motor has been taken as reference. The influence of the sampling period and the fixed-point arithmetic is quantified. To achieve a high computational time, an FPGA target has been chosen for implementing the real-time emulator (RTE). The design and the functional validation of the developed FPGA-based hardware architecture are presented. Finally, an HIL validation of an FPGA-based hysteresis current controller for synchronous motor drive is achieved. This validation is carried out using the developed synchronous motor RTE based on delta-operator.