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A mechatronics test-bed for embedded distributed real-time control systems
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Embedded Systems. (Embedded control systems)ORCID iD: 0000-0002-4300-885X
KTH, School of Industrial Engineering and Management (ITM). (Embedded control systems)
Chalmers.
Chalmers .
1997 (English)In: Proceedings of IFAC workshop on Algorithms and Architectures in real-time control systems, 1997Conference paper, Published paper (Refereed)
Abstract [en]

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.

Place, publisher, year, edition, pages
1997.
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-87052OAI: oai:DiVA.org:kth-87052DiVA: diva2:501331
Conference
FAC workshop on Algorithms and Architectures in real-time control systems, Vilamoura, Algarve, Portugal, April 9-11, 1997
Note
NR 20140805Available from: 2012-02-14 Created: 2012-02-14Bibliographically approved

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Törngren, Martin

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