Decentralized control systems for modular machines

The highest level of modularity for a mechatronic system designer would be the presence of actuator modules which contain an actuator, sensors, controller and a standard communication interface. Basic problems which must be solved to provide a concept which allows to build complete mechatronic systems, e.g. robotic systems, from modules with self contained controllers, are elaborated. A supporting design framework is outlined and includes a step where the application is modularized and where decentralization considerations are made. Different scenarios and applications pose different requirements with respect to dependability, real-time operation, flexibility etc. System design aspects and inter-module standardization aspects to tackle these problems are presented