A Systematic Design of a Real-time Robot Control System Based on a Fieldbus Communication Network

This paper suggests an architecture of the robot control system that is based on the eldbus network and proposes a systematic design method on it. The main advantages of the architecture are that the cost of cabling is reduced and the maintenance e ort can be reduced. In addition, robot control system employing eldbus avoids dependency of a special vendor and it can distribute control functions to the intelligent devices. It is veri ed that the robot control system using FIP satis es required timing constraints. The design method includes a real-time analysis for design parameters and real-time scheduling.