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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Castro, E., Seereeram, S., Singh, J. et al. A real-time computer controller for a Robotic Filament Winding system. J Intell Robot Syst 7, 73–93 (1993). https://doi.org/10.1007/BF01258213
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DOI: https://doi.org/10.1007/BF01258213