A Communication Architecture for Distributed Real-Time Robot Control

  • Yannick Dadji
  • Harald Michalik
  • Nnamdi Kohn
  • Jens Steiner
  • Guido Beckmann
  • Tobias Möglich
  • Jörn-Uwe Varchmin
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 67)

Abstract

Due to their continuous development in terms of performance and also reliability, standard PCs offer an adequate platform as basis for the development and implementation of control systems. The efficient and robust control of highly dynamic systems requires the implementation of very short control cycles (f cycle  ≥ 1 kHz). This requires real-time and high performance communication mechanisms implemented in software with dedicated hardware support providing response times in the range of a couple of μs. Such time constraints are typically not covered by commercial off-the-shelf (COTS) products in the full scale. Therefore, we introduce a communication architecture for a PC-based control platform that spans the complete chain from software development to integration of sensor and actuator devices with respect to real-time and performance requirements for high end control applications. Its key components are the distributed middleware MiRPA-XD and the Industrial Automation Protocol (IAP) applied on top of the IEEE1394 standard. This approach allows the achievement of flexible and high performance (up to 8 kHz) control systems at low cost using standard PC technology.

Keywords

Robot Control IEEE1394 Standard Communication Architecture Task Execution Time Multicore Platform 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Yannick Dadji
    • 1
  • Harald Michalik
    • 1
  • Nnamdi Kohn
    • 2
  • Jens Steiner
    • 3
  • Guido Beckmann
    • 4
  • Tobias Möglich
    • 1
  • Jörn-Uwe Varchmin
    • 5
  1. 1.Institute of Computer and Communication Network EngineeringTechnische Universität BraunschweigBraunschweigGermany
  2. 2.IAV GmbHGifhornGermany
  3. 3.Institute for Programming and Reactive SystemsTechnische Universität BraunschweigBraunschweigGermany
  4. 4.Beckhoff Automation GmbHVerlGermany
  5. 5.Institute of Electrical Measurement and Fundamental Electrical EngineeringTechnische Universität BraunschweigBraunschweigGermany

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