Any one got any good reference for most common hardware topologies applied to robotics? Topologies i mean, how the sensors or actuators are connected to the main controller. As an example, if the sensors and actuators are connected directly to the embedded hardware (for microcontrollers) or expansion cards (for embedded PCs like a PC/104) it would be a very centralized topology. I am not looking knowledge, just a good and solid reference, becouse one points of my msc is about a hardware architecture for robotics applications that is easily expandable, with a good throughput, average latency, very reduced number of cables (a very important point for a high reliability), and mainly, almost no change on the hardware connected to the main controller for very different applications (basically a multchannel, real multidrop, with distribuited processing network). And i need this reference becouse all knowledge i got right know comes from lots of articles and works, but nothing solid that goes deeply on this subject. Thank you!
Reference about Network Topologys applyed to Robotics or Automation
Started by ●January 22, 2011
Reply by ●January 22, 20112011-01-22
On 22.01.2011 19:13, Sink0 wrote:> Any one got any good reference for most common hardware topologies > applied to robotics?No such thing.> Topologies i mean, how the sensors or actuators are connected to the > main controller.Whichever way works. And that depends a lot, if not entirely, on what those sensors and actuators actually are, how big the entire apparatus is, how complex it is, and what the main driving point of the design is: cost, power, speed, flexibility, etc...
Reply by ●January 22, 20112011-01-22
> =A0And that depends a lot, if not entirely, on what > those sensors and actuators actually are, how big the entire apparatus > is, how complex it is, and what the main driving point of the design is: > cost, power, speed, flexibility, etc...Thats true, thats the reason i was asking for some possible reference on this field becouse teachers seems to do not be happy about if some option is a good one. They always want some sort of comparison with other possibilities and they ask why i chose this and not others options. I can really argue why my project is a good one for my specific purpose (biomechatronics applications) going throught all its specific chareacteristics, but as there are too many variables for a comparison, this task seems almost impossible (and too much waste of time). Any way.. Other question.. any good theory of how to make comparisons of comunication protocos for deterministic aplications? I got this Article http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=3D&arnumber=3D898793 , But i dont know if there are other references? Basicaly It compares some characteristics as Frame Time, Propagation Time, Blocking Time, Efficiency, Average time delay and Utilization... for Ethernet, ControlNet, and DeviceNet.
