%0 Conference Paper %1 10.1007/978-3-662-59317-2_7 %A Hinze, Christoph %A Tomzik, David %A Lechler, Armin %A Xu, Xun %A Verl, Alexander %B Tagungsband des 4. Kongresses Montage Handhabung Industrieroboter %C Berlin, Heidelberg %D 2019 %E Schüppstuhl, T. %E Tracht, K. %E Roßmann, J. %I Springer Berlin Heidelberg %K cloud-based container grk2198 isw simulation %P 64--73 %T Control Architecture for Industrial Robotics based on Container Virtualization %X Current robot control is a rather static, monolithic application, where the application data has to be programmed, before the actual process starts. For the automation of more dynamical tasks, additional real-time control loops for process control and a more flexible robot control are needed. Therefore, this paper introduces a robot control architecture for real-time and separate asynchronous communication, which is able to build up local real-time control loops as well as including massively scalable cloud components. In a proof-of-concept, a multibody dynamic simulation of a robot and a controller are virtualized as separate components. The real-time suitability of the architecture is evaluated in comparison with non-virtualized and a monolithic variant of the same application. %@ 978-3-662-59317-2

@inproceedings{10.1007/978-3-662-59317-2_7, abstract = {Current robot control is a rather static, monolithic application, where the application data has to be programmed, before the actual process starts. For the automation of more dynamical tasks, additional real-time control loops for process control and a more flexible robot control are needed. Therefore, this paper introduces a robot control architecture for real-time and separate asynchronous communication, which is able to build up local real-time control loops as well as including massively scalable cloud components. In a proof-of-concept, a multibody dynamic simulation of a robot and a controller are virtualized as separate components. The real-time suitability of the architecture is evaluated in comparison with non-virtualized and a monolithic variant of the same application.}, added-at = {2019-05-15T08:35:38.000+0200}, address = {Berlin, Heidelberg}, author = {Hinze, Christoph and Tomzik, David and Lechler, Armin and Xu, Xun and Verl, Alexander}, biburl = {https://puma.ub.uni-stuttgart.de/bibtex/25ed56b33c97b0ac70caea98ef2d3b3bb/isw-bibliothek}, booktitle = {Tagungsband des 4. Kongresses Montage Handhabung Industrieroboter}, editor = {Sch{\"u}ppstuhl, T. and Tracht, K. and Ro{\ss}mann, J.}, interhash = {4b24a6a2d0befbe61b95b2f843281e4d}, intrahash = {5ed56b33c97b0ac70caea98ef2d3b3bb}, isbn = {978-3-662-59317-2}, keywords = {cloud-based container grk2198 isw simulation}, pages = {64--73}, publisher = {Springer Berlin Heidelberg}, timestamp = {2020-01-20T14:30:38.000+0100}, title = {Control Architecture for Industrial Robotics based on Container Virtualization}, year = 2019 }