Abstract
This paper presents a software architecture for the control of parallel kinematic machines. A generic approach for the integration of self-management capabilities is introduced and detailed with the example of a management component for the dynamic distribution of tasks. The goal is to optimize the load balance of the distributed control system while minimizing bus communication. Depending on monitored information, possible system adaptations are calculated, which are verified regarding their conformance to real-time requirements before they are stored in a data base. A combination of graph partitioning heuristics is used to determine nearly optimal control task to CPU mappings.
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Steiner, J., Goltz, U., Maaß, J. (2010). Self-management within a Software Architecture for Parallel Kinematic Machines. In: Schütz, D., Wahl, F.M. (eds) Robotic Systems for Handling and Assembly. Springer Tracts in Advanced Robotics, vol 67. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16785-0_20
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DOI: https://doi.org/10.1007/978-3-642-16785-0_20
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