Application oriented analysis of distributed machine control systems

In this study a distributed machine control system is analysed. Methods for the analysis include classification and modelling. The Q-model is used as a modelling tool. The distributed control systems are classified into three classes according to the physical distribution: 1) a centralised system with actuator and transducer communication network; 2) a hierarchical distributed system; and 3) a fully distributed system. An analysed application of a manipulator which is a physically distributed but functionally hierarchical machine control system is adopted