This study describes the realisation of an embedded-control-software architecture on the Raspberry Pi 4 for the Production Cell demonstrator machine. The embedded-control-software architecture is built with a real-time robot-software framework. This framework has been developed at the Robotics and Mechatronics (RaM) group for the Raspberry Pi 4. While the Raspberry Pi 4 and its robot framework have been used for the control of simple demonstrator systems at RaM, their capabilities with respect to complex systems remain to be seen. Thus, an opportunity to utilise both on a complex demonstrator machine would showcase their capabilities.
This study proposes two goals to be achieved. The first goal is to realise a Production Cell demonstrator by means of a performant embedded-control-software architecture. The second goal is to characterise the implemented embedded-control-software architecture with respect to its control performance, load balancing and real-timeness.
The realised embedded-control-software architecture of this study is able to control the Production Cell setup. The characterisation of the realised architecture shows that the architecture performs adequately according to set requirements.