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. © 2010 Springer-Verlag.