Bandwidth Management for Distributed Control of Highly Articulated Robots

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.

[1]  Zack J. Butler,et al.  Distributed motion planning for modular robots with unit-compressible modules , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[2]  Giorgio C. Buttazzo,et al.  Adaptive Workload Management through Elastic Scheduling , 2002, Real-Time Systems.

[3]  Zack J. Butler,et al.  Distributed Motion Planning for 3D Modular Robots with Unit-Compressible Modules , 2002, WAFR.

[4]  Scott A. Brandt,et al.  Dynamic integrated scheduling of hard real-time, soft real-time, and non-real-time processes , 2003, RTSS 2003. 24th IEEE Real-Time Systems Symposium, 2003.

[5]  Karl-Erik Årzén,et al.  Feedback–Feedforward Scheduling of Control Tasks , 2002, Real-Time Systems.

[6]  Gerhard Fohler,et al.  Improving quality-of-control using flexible timing constraints: metric and scheduling , 2002, 23rd IEEE Real-Time Systems Symposium, 2002. RTSS 2002..

[7]  O. Nelles,et al.  An Introduction to Optimization , 1996, IEEE Antennas and Propagation Magazine.

[8]  Umit Ozguner,et al.  Stability of a set of matrices: a control theoretic approach , 1995, Proceedings of 1995 34th IEEE Conference on Decision and Control.

[9]  Zack J. Butler,et al.  Distributed Planning and Control for Modular Robots with Unit-Compressible Modules , 2003, Int. J. Robotics Res..

[10]  Karl Johan Åström,et al.  Simple Self-Tuning Controllers , 1980 .

[11]  George A. Perdikaris.  Computer Controlled Systems , 1991 .

[12]  W. Gellert,et al.  The VNR concise encyclopedia of mathematics , 1977 .

[13]  Ying Zhang,et al.  Scalable and reconfigurable configurations and locomotion gaits for chain-type modular reconfigurable robots , 2003, Proceedings 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation. Computational Intelligence in Robotics and Automation for the New Millennium (Cat. No.03EX694).

[14]  A. Ray,et al.  Introduction to networking for integrated control systems , 1989, IEEE Control Systems Magazine.

[15]  P. Marti,et al.  Control loop performance analysis over networked control systems , 2002, IEEE 2002 28th Annual Conference of the Industrial Electronics Society. IECON 02.