Sciweavers

Share
ICRA
2005
IEEE

Bandwidth Management for Distributed Control of Highly Articulated Robots

10 years 3 months ago
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.
Manel Velasco, Pau Martí, Manel Frigola
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Manel Velasco, Pau Martí, Manel Frigola
Comments (0)
books