SOFTWARE FRAMEWORK FOR HIGH PRECISION MOTION CONTROL APPLICATIONS
Ahmet Teoman Naskali
Mechatronics, Ph.D. Dissertation, 2012
Prof. Dr. Asif Sabanoviç (Thesis Supervisor), Assoc. Prof. Ayhan Bozkurt, Assoc. Prof. Kemalettin Erbatur, Prof. Dr. Bernard Levrat, Asst. Prof. Gönen Eren
Date &Time: August 7th, 2012 – 16:00
Place: FENS L055
Developing a motion control system requires much effort in different domains. Namely control, electronics and software engineering. In addition to these, there are the system requirements which may be completely different to these spanning from biomedical engineering to psychology. Collaboration between these fields is vital, however these fields should be involved only as much as they are needed to be in the fields of expertise of the others.
Several software frameworks exist for the creation of robotics applications. But currently there is no standard for the creation of mechatronics systems nor is there a complete software package that can deal with all aspects in the programming of such systems. Existing frameworks each have their advantages and disadvantages, however they generally have limited or no dedicated structure for the development of the motion control aspect of the problem and deal extensively with the robot- environment interactions and inter mechanism communications. Dealing with the higher levels of the problem, they are usually not well suited for hard realtime; since the interactions can run on soft realtime constraints. The software framework proposed in this study aims to achieve a level of abstraction between the different domains utilized within a system. The aim in using the framework is to achieve a sustainable software structure for the system. Sustainability is an important part of systems, as it permits a system to evolve with changing requirements and variable hardware, with the ultimate goal of having robust software that can be utilized on different platforms and with other systems using an abstraction layer between the hardware and the software. This ensures that the system can be migrated from a processing platform to any other platform and also from one set of hardware to another.
The framework was tested on several systems that have precision motion control requirements such as a 10 degree of freedom micro assembly workstation, a modular micro factory and a haptic system with time delay. Each of the systems works in different processing platforms and have different motion control requirements. The achieved results from the implementations show that the software framework is an important tool for the development of motion control software.