Design of a real-time open architecture controller for a Reconfigurable Machine Tool

Abstract — The paper presents the design and the development of a real-time, open architecture controller that is used for control of reconfigurable manufacturing tools (RMTs) in reconfigurable manufacturing systems (RMS). The controller that is presented can be implemented on any controller hardware i.e. open controller. The controller is designed in such a way that it satisfies the time critical tasks required by reconfigurable manufacturing tools (RMT) i.e. real time controller. The kinematics analysis of a general 5-axis RMT is presented. Thereafter, software concepts that are used in the controller implementation are discussed. Software controller modules for RMTs are also discussed. The controller architecture for satisfying real time control requirements for RMTs is presented. The simulation results are presented using the different configurations of 5-axes RMT