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industrial-robot-controller

industrial arm controller

ABB OmniCore, FANUC R-30iB, KUKA KR C5

SystemTechniques · 9Primitives · 41 industrial-robot-contro… Safety-critical coding standardsembedded · medium: Which rule sets (MISRA C, CERT C, JPL Power of Ten, Rust lint subsets) apply when software must not fail, what they forbid, and how to enforce them in CI.›Safety monitor architectureembedded · medium: Independent doer/checker safety monitor that forces a safe state when the main channel misbehavesLevenberg marquardtnumerics · medium: Damped Gauss-Newton nonlinear least squares for model calibrationRigid body dynamics algorithmsphysics · medium: Featherstone RNEA/ABA/CRBA for articulated-body inverse and forward dynamicsField oriented controlrobotics · medium: FOC of BLDC/PMSM motors: Clarke/Park transforms, current PI loops, space-vector PWMInput shapingrobotics · medium: Shape motion commands (ZV, MZV, EI) to cancel mechanical resonancesInverse kinematicsrobotics · medium: CCD/FABRIK/Jacobian solvers posing joint chains to reach targetsRedundancy votingembedded · low: N-modular redundancy and MooN voting (2oo3, TMR) with discrepancy detectionWatchdog timerembedded · low: A hardware down-counter that resets the chip unless software proves, in time and in a plausible pattern, that it is still healthy.›Quaternion rotationsgeometry · low: Unit quaternions as 3D rotations: 4 floats, cheap composition, no gimbal lock, plus the conversions, interpolation choices and numerical care needed in practice.›Fixed-rate control loopembedded · low: Run a controller at an exact period using absolute deadlines and a fixed dt, so jitter never accumulates and the math stays valid.›PID controllerrobotics · low: Drive a measured value to a setpoint with three terms on the error: proportional, integral, derivative. The default feedback loop for motors, heaters, drones and gimbals.›Velocity motion profilesrobotics · low: Trapezoidal and S-curve (jerk-limited) velocity profiles for point-to-point movesBytecode interpretercompilers · low: Register/stack VM dispatch loop for executing compiled plans or rules (SQLite VDBE, nftables)Recursive-descent parsingcompilers · low: Hand-written top-down parser with one function per grammar rule; simple, fast, with full control over error messages and recovery.›Preemptive priority schedulingembedded · low: Always run the highest-priority ready task, switching the instant a higher one becomes ready; selection is O(1) with one FIFO per priority and a bitmap.›Real time fieldbusembedded · low: Deterministic cyclic fieldbuses (EtherCAT, PROFINET IRT): on-the-fly frames, distributed clocksHomogeneous transformsgeometry · low: 4x4 affine and projective matrices, homogeneous coordinates, view and projection, normal matricesSpline interpolationnumerics · low: Linear, bilinear/trilinear and cubic spline interpolation on grids and tablesBounding volume hierarchyphysics · low: Binary tree of nested bounding boxes; prunes overlap and ray queries to O(log n) for any size distribution, and supports cheap insert/remove for moving objects.›GJK and EPAphysics · low: GJK decides whether (and how far apart) two convex shapes are from their support functions alone; EPA expands its simplex into penetration depth and normal.›Code coverage instrumentationcompilers · low: Insert counters into compiled code to record which blocks, edges or lines ran; a spanning tree of the control-flow graph cuts the counters needed.›End to end protection e2eembedded · low: Per-message counter, ID and CRC over a black channel to detect loss, repetition, corruption, delay+ 2 more techniques+ 25 more primitives

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