Zusammenfassung
Current robot control is a rather static, monolithic application, where the application data has to be programmed, before the actual process starts. For the automation of more dynamical tasks, additional real-time control loops for process control and a more flexible robot control are needed. Therefore, this paper introduces a robot control architecture for real-time and separate asynchronous communication, which is able to build up local real-time control loops as well as including massively scalable cloud components. In a proof-of-concept, a multibody dynamic simulation of a robot and a controller are virtualized as separate components. The real-time suitability of the architecture is evaluated in comparison with non-virtualized and a monolithic variant of the same application.
The research leading to this publication has received funding from the German Research Foundation (DFG) as part of the International Research Training Group “Soft Tissue Robotics” (GRK 2198/1).
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Hinze, C., Tomzik, D.A., Lechler, A., Xu, X.W., Verl, A. (2019). Control Architecture for Industrial Robotics based on Container Virtualization. In: Schüppstuhl, T., Tracht, K., Roßmann, J. (eds) Tagungsband des 4. Kongresses Montage Handhabung Industrieroboter. Springer Vieweg, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-59317-2_7
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DOI: https://doi.org/10.1007/978-3-662-59317-2_7
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