3. |
- Törngren, Martin, 1963-, et al.
(författare)
-
A mechatronics test-bed for embedded distributed real-time control systems
- 1997
-
Ingår i: Proceedings of IFAC workshop on Algorithms and Architectures in real-time control systems.
-
Konferensbidrag (refereegranskat)abstract
- A testbed has been developed to be used for research in distributed real-time control systems.The testbed is modular both in mechanics and in control system, allowing a number of robot configurations,control system structures and execution strategies to be implemented and evaluated. The nodes of thecontrol system are currently based on a microprocessor, CAN communication, interfaces to analog anddigital I/O, and motor drive units. The modularity of the nodes allows changes of I/O and communicationsystem, as well as the implementation of different resource structures. To give an idea of the experimentalcapabilities of the testbed, initial experiments in the area of time-varying control systems are described.The research goals include design and experimental evaluation of execution strategies, time-varying controlsystems and development tools for real-time implementation support.
|
|