Paper Info
Title
Timestamp based predictive robot control system over real-time industrial ethernet
Abstract
Real-time Industrial Ethernet will become the development trend of the robot control system. The paper describes main methods how to use industrial Ethernet for robot control system, put forwards some ideas to get a good real-time and low-jitter validation of the robot control system from the following six aspects: bus topology architecture, clock synchronization technology, switching technology, delay prediction algorithm, UDP protocol improving, prediction and compensation control. It gives a timestamp based predictive robot network control system model which combines the technology of clock synchronization, state estimation, delay prediction, predictive control, and the robotics network control system is simulated with Matlab/Simulink and Truetime.
Year
DOI
Venue
2010
10.1007/978-3-642-16584-9_17
ICIRA (1)
Keywords
Field
DocType
system model,predictive control,predictive robot control system,robotics network control system,compensation control,clock synchronization technology,predictive robot network control,real-time industrial ethernet,delay prediction,delay prediction algorithm,robot control system,networked control system,robot control,clock synchronization,real time
Bus network,Networked control system,Model predictive control,Real-time computing,Control engineering,Clock synchronization,Timestamp,Engineering,Industrial Ethernet,Robot,Synchronous Ethernet
Conference
Volume
ISSN
ISBN
6424
0302-9743
3-642-16583-4
Citations 
PageRank 
References 
0
0.34
2
Authors
4
Name
Order
Citations
PageRank
Huasong Min153.84
Tianmiao Wang232268.45
Hongxing Wei310122.41
Zheng-lin Liu47412.07