A real-time computer controller for a Robotic Filament Winding system |
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Authors: | E Castro S Seereeram J Singh A A Desrochers J T Wen |
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Affiliation: | (1) Electrical, Computer and Systems Engineering Department, Rensselaer Polytechnic Institute, 12180-3590 Troy, NY, USA |
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Abstract: | This paper presents an integrated real-time control system for a Robotic Filament Winding manufacturing cell. The architecture is based on a multiprocessor system employing four processor boards. The system incorporates a hierarchical control layout with the task specification at the highest level and the robot and winder set point tracking at the lowest. Eventual design goals include a PC front-end unit capable of winding path generation and testing prior to actual part production. Preliminary experimental results on cylindrical, elbow and T-shaped pipe-fittings are included. |
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Keywords: | Filament winding robotics composite structures hierarchical real-time control |
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