Design and Application of a Distributed Simulation- and Runtime-Platform for Mechatronic Systems in the Field of Robot Control

Abstract

A basic feature of mechatronic design is the decomposition of a mechatronic system into smaller subsystems. Furthermore each of these subsystems can be equipped with a local information processing unit. This paper deals with a novel approach for supporting real-time information processing in mechatronic systems. We discuss some aspects of implementation and illustrate the application of the approach by means of position and distance control of a 3-dof revolute arm robot. For this system a C-code-generation out of a special description language and the distributed simulation on a multiprocessor hardware are explained.