Bandwidth Management for Distributed Control of Highly Articulated Robots

Author

Velasco, Manel ; Marti, Pau ; Frigola, Manel

Author_Institution

Intelligent Robots and Systems Lab, Automatic Control Department Technical University of Catalonia Pau Gargallo, 5, 08028 Barcelona, Spain manel.velasco@upc.es

fYear

2005

fDate

18-22 April 2005

Firstpage

265

Lastpage

270

Abstract

An optimal bandwidth allocation policy for axis distributed control using networked control systems (NCS) is presented. First, the benefits of structuring highly articulated robots using networked control systems are discussed. Afterwards, an optimal bandwidth allocation policy for axes distributed control that allows to enhance robot tracking within the available bandwidth is introduced. It will be shown that axes control performance and thus tracking can be significantly improved by using feedback to dynamically allocate bandwidth to axis controllers as a function of the current state of each axis. Simulation results on a multiple axes robot corroborate our approach.

Keywords

Bandwidth Management; Distributed Control; Highly Articulated Robots; Performance Optimization; Actuators; Automatic control; Bandwidth; Communication system control; Control systems; Distributed control; Robot control; Robot kinematics; Robot sensing systems; Robotics and automation; Bandwidth Management; Distributed Control; Highly Articulated Robots; Performance Optimization;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on

Print_ISBN

0-7803-8914-X

Type

conf

DOI

10.1109/ROBOT.2005.1570130

Filename

1570130