抄録
A highly-responsive control method of network distributed controller for complex working robot has been developed to guarantee response performance of input-output (I/O) control for devices connected to each slave module included in the controller. We developed a tree-topology network via point-to-point connections that is designed to avoid collision of communication signals in a network. We also developed a data relaying method that change between a bit-by-bit tranfer control and a packet-by-packet tranfer in each slave module and a communication control that uses the data relaying method to avoid collision between a cyclic transmission and an event-driven transmission. We implemented our communication method in a field programmable gate array (FPGA) to enable development of a fast responding network in real systems.
