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A Communication Architecture for Distributed Real-Time Robot Control

  • Chapter
Robotic Systems for Handling and Assembly

Part of the book series: Springer Tracts in Advanced Robotics ((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.

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Author information

Authors and Affiliations

  1. Institute of Computer and Communication Network Engineering, Technische Universität Braunschweig, Hans-Sommer-Straße 66, 38106, Braunschweig, Germany

    Yannick Dadji, Harald Michalik & Tobias Möglich

  2. IAV GmbH, Rockwellstraße 16, 38518, Gifhorn, Germany

    Nnamdi Kohn

  3. Institute for Programming and Reactive Systems, Technische Universität Braunschweig, Mühlenpfordtstraße 23, 38106, Braunschweig, Germany

    Jens Steiner

  4. Beckhoff Automation GmbH, Eiserstraße 5, 33415, Verl, Germany

    Guido Beckmann

  5. Institute of Electrical Measurement and Fundamental Electrical Engineering, Technische Universität Braunschweig, Hans-Sommer-Straße 66, 38106, Braunschweig, Germany

    Jörn-Uwe Varchmin

Authors
  1. Yannick Dadji
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  2. Harald Michalik
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  3. Nnamdi Kohn
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  4. Jens Steiner
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  5. Guido Beckmann
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  6. Tobias Möglich
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  7. Jörn-Uwe Varchmin
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Editor information

Editors and Affiliations

  1. Institute of Machine Tools and Production Technology, Technische Universität Braunschweig, Langer Kamp 19b, 38106, Braunschweig, Germany

    Daniel Schütz

  2. Institute for Robotics and Process Control, Technische Universität Braunschweig, Mühlenpfordtstraße 23, 38106, Braunschweig, Germany

    Friedrich M. Wahl

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Dadji, Y. et al. (2010). A Communication Architecture for Distributed Real-Time Robot Control. In: Schütz, D., Wahl, F.M. (eds) Robotic Systems for Handling and Assembly. Springer Tracts in Advanced Robotics, vol 67. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16785-0_13

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  • DOI: https://doi.org/10.1007/978-3-642-16785-0_13

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-16784-3

  • Online ISBN: 978-3-642-16785-0

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