{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,3,1]],"date-time":"2025-03-01T05:22:26Z","timestamp":1740806546311,"version":"3.38.0"},"publisher-location":"Berlin, Heidelberg","reference-count":41,"publisher":"Springer Berlin Heidelberg","isbn-type":[{"type":"print","value":"9783642167843"},{"type":"electronic","value":"9783642167850"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2010]]},"DOI":"10.1007\/978-3-642-16785-0_13","type":"book-chapter","created":{"date-parts":[[2010,11,29]],"date-time":"2010-11-29T05:36:06Z","timestamp":1291008966000},"page":"213-231","source":"Crossref","is-referenced-by-count":6,"title":["A Communication Architecture for Distributed Real-Time Robot Control"],"prefix":"10.1007","author":[{"given":"Yannick","family":"Dadji","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Harald","family":"Michalik","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nnamdi","family":"Kohn","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jens","family":"Steiner","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guido","family":"Beckmann","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tobias","family":"M\u00f6glich","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"J\u00f6rn-Uwe","family":"Varchmin","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","reference":[{"key":"13_CR1","doi-asserted-by":"crossref","unstructured":"Gee, D.: The how\u2019s and why\u2019s of pc based control. In: Conference Record of. Pulp. and Paper Industry Technical Conference, pp. 67\u201374 (2001)","DOI":"10.1109\/PAPCON.2001.952949"},{"key":"13_CR2","doi-asserted-by":"crossref","unstructured":"Costescu, N., Loffler, M., Zergeroglu, E., Dawson, D.: Qrobot - a multitasking pc based robot control system. In: Proceedings of the 1998 IEEE International Conference on Control Applications, vol.\u00a02, pp. 892\u2013896 (1998)","DOI":"10.1109\/CCA.1998.721587"},{"key":"13_CR3","unstructured":"Dadji, Y., Maass, J., Michalik, H., M\u00f6glich, T., Kohn, N., Varchmin, J.-U.: Networked architecture for distributed pc-based robot control systems. In: proceedings of the International Conference on Automation, Robotics and Control (ARCS), Orlando(FL), USA (2008)"},{"key":"13_CR4","unstructured":"QNX Neutrino homepage (2009), www.qnx.com\/"},{"issue":"6","key":"13_CR5","doi-asserted-by":"publisher","first-page":"418","DOI":"10.1109\/TSMC.1981.4308708","volume":"11","author":"M.T. Mason","year":"1981","unstructured":"Mason, M.T.: Compliance and force control for computer controlled manipulators. IEEE Transactions on Systems, Man and Cybernetics\u00a011(6), 418\u2013432 (1981)","journal-title":"IEEE Transactions on Systems, Man and Cybernetics"},{"issue":"4","key":"13_CR6","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1177\/027836498800700401","volume":"7","author":"J. Schutter De","year":"1988","unstructured":"De Schutter, J., Van Brussel, H.: Compliant Robot Motion I. A Formalism for Specifying Compliant Motion Tasks. The International Journal of Robotics Research\u00a07(4), 3\u201317 (1988)","journal-title":"The International Journal of Robotics Research"},{"key":"13_CR7","doi-asserted-by":"crossref","unstructured":"Thomas, U., Maa\u00df, J., Hesselbach, J., Wahl, F.M.: Towards a new concept of robot programming in high speed assembly applications. In: Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems IROS 2005, pp. 3932\u20133938 (2005)","DOI":"10.1109\/IROS.2005.1545582"},{"issue":"1","key":"13_CR8","doi-asserted-by":"crossref","first-page":"1","DOI":"10.5772\/5763","volume":"3","author":"J. Maa\u00df","year":"2006","unstructured":"Maa\u00df, J., Kohn, N., Hesselbach, J.: Open modular robot control architecture for assembly using the task frame formalism. International Journal of Advanced Robotic Systems\u00a03(1), 1\u201310 (2006)","journal-title":"International Journal of Advanced Robotic Systems"},{"key":"13_CR9","unstructured":"Maa\u00df, J., Hesselbach, J., Steiner, J., Goltz, U.: Self-management in a robot control architecture. In: Proceedings of Second International Workshop on Software Development and Integration in Robotics (SDIR 2007), affiliated with ICRA 2007 (2007)"},{"key":"13_CR10","doi-asserted-by":"crossref","unstructured":"Maa\u00df, J., Steiner, J., Amado, A., Hesselbach, J., Huhn, M., Raatz, A.: Self-management in a control architecture for parallel kinematic robots. In: Proceedings of the ASME 2008 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC\/CIE 2008, Brooklyn, New York, USA (2008)","DOI":"10.1115\/DETC2008-49881"},{"key":"13_CR11","doi-asserted-by":"crossref","unstructured":"B\u00e4uml, B., Hirzinger, G.: Agile robot development (ard): A pragmatic approach to robotic software. In: Proceedings of the IEEE\/RSJ International Conference on Intellegent Robotic Systems (2006)","DOI":"10.1109\/IROS.2006.281756"},{"key":"13_CR12","volume-title":"Instant CORBA","author":"R. Orfali","year":"1998","unstructured":"Orfali, R., Harkey, D., Edwards, J.: Instant CORBA. John Wiley & Sons, Chichester (1998)"},{"key":"13_CR13","unstructured":"Orocos homepage. open robot control software (2009), www.orocos.org"},{"key":"13_CR14","unstructured":"Osaca homepage (2009), www.osaca.org"},{"key":"13_CR15","doi-asserted-by":"crossref","unstructured":"Cote, C., Letourneau, D., Michaud, F., Valin, J.-M., Brosseau, Y., Raievsky, C., Lemay, M., Tran, V.: Code reusability tools for programming mobile robots. In: Proceedings. 2004 IEEE\/RSJ International Conference on Intelligent Robots and Systems, vol.\u00a02, pp. 1820\u20131825 (2004)","DOI":"10.1109\/IROS.2004.1389661"},{"key":"13_CR16","doi-asserted-by":"crossref","unstructured":"Brooks, A., Kaupp, T., Makarenko, A., Williams, S., Oreback, A.: Towards component-based robotics. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS 2005), pp. 163\u2013168 (2005)","DOI":"10.1109\/IROS.2005.1545523"},{"issue":"4","key":"13_CR17","doi-asserted-by":"publisher","first-page":"493","DOI":"10.1109\/TRA.2002.802930","volume":"18","author":"H. Utz","year":"2002","unstructured":"Utz, H., Sablatnog, S., Enderle, S., Kraetzschmar, G.: Miro - middleware for mobile robot applications. IEEE Transactions on Robotics and Automation\u00a018(4), 493\u2013497 (2002)","journal-title":"IEEE Transactions on Robotics and Automation"},{"key":"13_CR18","doi-asserted-by":"crossref","unstructured":"Vaughan, R., Gerkey, B., Howard, A.: On device abstractions for portable, reusable robot code. In: Proceedings. 2003 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), vol.\u00a03, pp. 2421\u20132427 (2003)","DOI":"10.1109\/IROS.2003.1249233"},{"key":"13_CR19","unstructured":"Dadji, Y., Michalik, H., M\u00f6glich, T., Kohn, N., Steiner, J.: Performance optimized communication system for high-dynamic and real-time robot control systems. In: Proceedings of 16th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2007), pp. 192\u2013201 (2007)"},{"key":"13_CR20","unstructured":"Dadji, Y., Maass, J., Michalik, H.: Parallel task processing on a multicore platform in a pc-based control system for parallel kinematics. In: proceedings of the 6th International Conference on Computing, Communications and Control Technologies (CCCT), Orlando(FL), USA (2008)"},{"key":"13_CR21","unstructured":"Dadji, Y., Michalik, H., M\u00f6glich, T.: Parallel architecture for real time control system based on the ieee1394 standard. In: proceedings of the International Conference on Parallel and Distributed Processing Techniques and Applications, Las Vegas(NV), USA (2009)"},{"key":"13_CR22","unstructured":"Beckmann, G.: Ein Hochgeschwindigkeits-Kommunikations-System f\u00fcr die industrielle Automation. Ph.D. thesis, Technische Universit\u00e4t Braunschweig (2001)"},{"key":"13_CR23","unstructured":"Beckmann, G., Varchmin, J.-U.: Industrial Automation Protocol - Kommunikationsprotokoll f\u00fcr die industrielle Automation auf Basis der Norm IEEE 1394, Version 0.9.5. Technical report, Institut f\u00fcr Elektrische Messtechnik und Grundlagen der Elektrotechnik, Technische Universit\u00e4t Braunschweig (2002)"},{"key":"13_CR24","unstructured":"Finkemeyer, B., Kr\u00f6ger, T., Kubus, D., Olschewski, M., Wahl, F.M.: Mirpa: Middleware for robotic and process control applications. In: Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems IROS 2007 (2007)"},{"key":"13_CR25","unstructured":"Ieee std. 1394-2008, standard for a high performance serial bus (2008)"},{"key":"13_CR26","unstructured":"Sercos 3 homepage (2009), http:\/\/www.sercos.de\/sercos-iii.175.0.html"},{"key":"13_CR27","unstructured":"Macro.org - homepage (09.08.2006), www.macro.org\/"},{"key":"13_CR28","unstructured":"Eberhardt, U., Kelm, H.J.: USB 2.0: Datendienste, Function, Hub, Host, Errorhandling, Powermanagement, USB-Treiber, USB-Bausteine, USB-Applikationen, Test & Analyse. Professional series. Franzis, Poing (2001) ISBN 3772379656"},{"key":"13_CR29","series-title":"Macmillan network architecture and development series","volume-title":"Switched, fast, and gigabit Ethernet: [understanding, building, and managing high-performance Ethernet networks]","author":"R. Breyer","year":"1999","unstructured":"Breyer, R., Riley, S.: Switched, fast, and gigabit Ethernet: [understanding, building, and managing high-performance Ethernet networks], 3rd edn. Macmillan network architecture and development series. Macmillan Technical Publ., Indianapolis (1999) ISBN 1578700736","edition":"3"},{"key":"13_CR30","unstructured":"Iec 61158 (all parts), industrial communication networks - fieldbus specifications. Technical report"},{"key":"13_CR31","doi-asserted-by":"crossref","unstructured":"Prytz, G.: A performance analysis of ethercat and profinet irt. In: IEEE International Conference on Emerging Technologies and Factory Automation ETFA 2008, pp. 408\u2013415 (2008)","DOI":"10.1109\/ETFA.2008.4638425"},{"key":"13_CR32","unstructured":"Kohn, N.: Kommunikations-Infrastruktur f\u00fcr hochdynamische Parallelroboter. Ph.D. thesis, Technische Universit\u00e4t Carolo-Wilhelmina zu Braunschweig (2007)"},{"key":"13_CR33","first-page":"205","volume-title":"Proceedings of International Conference on Control, Automation, Robotics and Vision (ICARCV 8th)","author":"N. Kohn","year":"2004","unstructured":"Kohn, N., Varchmin, J.-U., Steiner, J., Goltz, U.: Universal communication architecture for high-dynamic robot systems using qnx. In: Proceedings of International Conference on Control, Automation, Robotics and Vision (ICARCV 8th), vol.\u00a01, pp. 205\u2013210. IEEE Computer Society, Kunming (2004) ISBN: 0-7803-8653-1"},{"key":"13_CR34","series-title":"STAR","doi-asserted-by":"crossref","first-page":"355","DOI":"10.1007\/978-3-642-16785-0_20","volume-title":"Robotic Systems for Handling and Assembly","author":"J. Steiner","year":"2010","unstructured":"Steiner, J., Goltz, U., Maa\u00df, J.: Self-Management within a Software Architecture for Parallel Kinematic Machines. In: Sch\u00fctz, D., Wahl, F.M. (eds.) Robotic Systems for Handling and Assembly. STAR, vol.\u00a067, pp. 355\u2013371. Springer, Heidelberg (2010)"},{"key":"13_CR35","series-title":"STAR","doi-asserted-by":"crossref","first-page":"193","DOI":"10.1007\/978-3-642-16785-0_12","volume-title":"Robotic Systems for Handling and Assembly","author":"B. Finkemeyer","year":"2010","unstructured":"Finkemeyer, B., Kr\u00f6ger, T., Wahl, F.M.: A Middleware for High-Speed Distributed Real-Time Robotic Applications. In: Sch\u00fctz, D., Wahl, F.M. (eds.) Robotic Systems for Handling and Assembly. STAR, vol.\u00a067, pp. 193\u2013212. Springer, Heidelberg (2010)"},{"key":"13_CR36","doi-asserted-by":"crossref","unstructured":"Diethers, C., Finkemeyer, B., Kohn, N.: Middleware zur Realisierung offener Steuerungssoftware f\u00fcr hochdynamische Prozesse. Information Technology\u00a0(1), 39\u201347 (2004)","DOI":"10.1524\/itit.46.1.39.26502"},{"issue":"1","key":"13_CR37","doi-asserted-by":"publisher","first-page":"349","DOI":"10.1016\/S0007-8506(07)60120-6","volume":"54","author":"J. Hesselbach","year":"2005","unstructured":"Hesselbach, J., Maa\u00df, J., Bier, C.: Singularity prediction for parallel robots for improvement of sensor-integrated assembly. CIRP Annals - Manufacturing Technology\u00a054(1), 349\u2013352 (2005)","journal-title":"CIRP Annals - Manufacturing Technology"},{"key":"13_CR38","unstructured":"Bier, C., Maa\u00df, J., Campos, A., Queiroz, E.: Direct singularity avoidance strategy for the hexa parallel robot. In: 18th International Congress of Mechanical Engineering (COBEM 2005), Ouro Preto, Brasilien (2005)"},{"issue":"5","key":"13_CR39","doi-asserted-by":"publisher","first-page":"651","DOI":"10.1109\/70.538972","volume":"12","author":"S. Hutchinson","year":"1996","unstructured":"Hutchinson, S., Hager, G., Corke, P.: A tutorial on visual servo control. IEEE Transactions on Robotics and Automation\u00a012(5), 651\u2013670 (1996)","journal-title":"IEEE Transactions on Robotics and Automation"},{"key":"13_CR40","series-title":"PC system architecture series","volume-title":"Universal Serial Bus system architecture","author":"D. Anderson","year":"2001","unstructured":"Anderson, D., Dzatko, D.: Universal Serial Bus system architecture, 2nd edn. PC system architecture series. Addison-Wesley, Boston (2001)","edition":"2"},{"key":"13_CR41","series-title":"STAR","doi-asserted-by":"crossref","first-page":"315","DOI":"10.1007\/978-3-642-16785-0_18","volume-title":"Robotic Systems for Handling and Assembly","author":"F. Dietrich","year":"2010","unstructured":"Dietrich, F., Maa\u00df, J., Raatz, A., Hesselbach, J.: RCA562: Control Architecture for Parallel Kinematic Robots. In: Sch\u00fctz, D., Wahl, F.M. (eds.) Robotic Systems for Handling and Assembly. STAR, vol.\u00a067, pp. 315\u2013331. Springer, Heidelberg (2010)"}],"container-title":["Springer Tracts in Advanced Robotics","Robotic Systems for Handling and Assembly"],"original-title":[],"link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-642-16785-0_13.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,2,28]],"date-time":"2025-02-28T07:52:58Z","timestamp":1740729178000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/978-3-642-16785-0_13"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2010]]},"ISBN":["9783642167843","9783642167850"],"references-count":41,"URL":"https:\/\/doi.org\/10.1007\/978-3-642-16785-0_13","relation":{},"ISSN":["1610-7438","1610-742X"],"issn-type":[{"type":"print","value":"1610-7438"},{"type":"electronic","value":"1610-742X"}],"subject":[],"published":{"date-parts":[[2010]]}}}