The Development of a Generic Embedded Networked Real Time Control System for Bristol's Robot Platform

This paper discusses the development of a control communication system of an embedded, networked real time control system with a large number of distributed electronic control units (embedded microprocessor unit with the suitable interfacing) connecting to sensors and actuators. This system is to be used at the Bristol Robotics Laboratory (BRL) of the University of Bristol/University of the West of England for real-time control of a humanoid robot with torso, arms, hands and neck. The control objectives require a reliable data-transfer service between the various units for ensing and actuation. The key discriminator to assess reliability is determinism, (e.g. causality of event ordering in time and transaction). The strategy to support this at the bus level, will include time-triggering, prioritisation and guarantees of latency. Existing solutions will be evaluated, with the aim of implementing novel ways of using them, or if they are not appropriate, recommendations for, and proof of concept of, a novel bus system will be implemented. The real-time network has to incorporate into dSPACE, a well-known Matlab-based controller prototyping system.