Timestamp based predictive robot control system over real-time industrial Ethernet

Huasong Min; Tianmiao Wang; Hongxing Wei; Zhenglin Liu

doi:10.1007/978-3-642-16584-9_17

Timestamp based predictive robot control system over real-time industrial Ethernet

Huasong Min^*
, Tianmiao Wang
, Hongxing Wei
, Zhenglin Liu

^*Corresponding author for this work

School of Mechanical Engineering and Automation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

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.

Original language	English
Title of host publication	Intelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings
Pages	183-194
Number of pages	12
Edition	PART 1
DOIs	https://doi.org/10.1007/978-3-642-16584-9_17
State	Published - 2010
Event	3rd International Conference on Intelligent Robotics and Applications, ICIRA 2010 - Shanghai, China Duration: 10 Nov 2010 → 12 Nov 2010

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Number	PART 1
Volume	6424 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	3rd International Conference on Intelligent Robotics and Applications, ICIRA 2010
Country/Territory	China
City	Shanghai
Period	10/11/10 → 12/11/10

Keywords

Real-time Industrial Ethernet
Robot Control System
Truetime

Access to Document

10.1007/978-3-642-16584-9_17

Cite this

Min, H., Wang, T., Wei, H., & Liu, Z. (2010). Timestamp based predictive robot control system over real-time industrial Ethernet. In Intelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings (PART 1 ed., pp. 183-194). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 6424 LNAI, No. PART 1). https://doi.org/10.1007/978-3-642-16584-9_17

Min, Huasong ; Wang, Tianmiao ; Wei, Hongxing et al. / Timestamp based predictive robot control system over real-time industrial Ethernet. Intelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings. PART 1. ed. 2010. pp. 183-194 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 1).

@inproceedings{e07ad548a58e47d693e07961c9ff11e2,

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.",

keywords = "Real-time Industrial Ethernet, Robot Control System, Truetime",

author = "Huasong Min and Tianmiao Wang and Hongxing Wei and Zhenglin Liu",

year = "2010",

doi = "10.1007/978-3-642-16584-9\_17",

language = "英语",

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series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

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booktitle = "Intelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings",

edition = "PART 1",

note = "3rd International Conference on Intelligent Robotics and Applications, ICIRA 2010 ; Conference date: 10-11-2010 Through 12-11-2010",

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Min, H, Wang, T , Wei, H & Liu, Z 2010, Timestamp based predictive robot control system over real-time industrial Ethernet. in Intelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings. PART 1 edn, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), no. PART 1, vol. 6424 LNAI, pp. 183-194, 3rd International Conference on Intelligent Robotics and Applications, ICIRA 2010, Shanghai, China, 10/11/10. https://doi.org/10.1007/978-3-642-16584-9_17

Timestamp based predictive robot control system over real-time industrial Ethernet. / Min, Huasong; Wang, Tianmiao ; Wei, Hongxing et al.
Intelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings. PART 1. ed. 2010. p. 183-194 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 6424 LNAI, No. PART 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Wang, Tianmiao

AU - Wei, Hongxing

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N2 - 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.

AB - 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.

KW - Real-time Industrial Ethernet

KW - Robot Control System

KW - Truetime

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M3 - 会议稿件

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Min H, Wang T , Wei H, Liu Z. Timestamp based predictive robot control system over real-time industrial Ethernet. In Intelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings. PART 1 ed. 2010. p. 183-194. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 1). doi: 10.1007/978-3-642-16584-9_17

Timestamp based predictive robot control system over real-time industrial Ethernet

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