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The paper presents a review of the main communication protocols relating to industrial applications of electrical drives. In the factory automation context, drives are increasingly considered as intelligent actuators which require to exchange amount of data both mutually and with a supervising unit in order to improve the process quality. The protocols here considered are relevant either because of their diffusion in specific market areas (Profibus, FIP), or due to their specific design tailored to the drives (CAN bus, SERCOS). After a classification of the different networks, according to serial point-to-point or multipoint connection, the single protocols are reviewed in detail, by considering the most significant features from the point of view of the drive producer and user and showing how they can affect the control performances of the drives. In conclusion a comprehensive comparison table is reported for quick referenc

Abstract-This paper deals with the formulation of a supervisory sliding mode control approach oriented to deal with the interesting class of Systems of Systems (SoS) of robotic nature. This class of systems is characterized by the fact of being inherently distributed, cooperative and possibly heterogeneous. In this paper, we propose a modular and composable approach relying on basic modules featuring a multi-level functional architecture, including a supervisor and a couple of hybrid position/force control schemes associated with a couple of cooperative robotic manipulators. In principle, the overall robotic system we are referring to can be viewed as a collection of basic modules of that type. In the present paper, we focus on the design of the basic module. The hybrid position/force control schemes therein included are based on position and force controllers. The proposed position and force controllers are of Sliding Mode (SM) type, so as to assure suitable robustness to perform a satisfactory trajectory tracking even in presence of unavoidable modelling uncertainties and external disturbances. The verification and the validation of our proposal have been performed by simulating the supervisor and the hybrid control scheme applied to one of the two robotic manipulators, while experimentally testing the position control on the other arm. The experimental part of the tests has been carried out on a COMAU SMART3-S2 anthropomorphic industrial robotic manipulator.

This paper deals with the hybrid position/force control of a class of robotic manipulators. To perform the control scheme design, it is necessary to characterize the dynamical model of the force sensor which is mounted at the end-effector of the robot. The objective is to perform reliable contact force measurements by estimating all the forces which are generated at the level of the tip which is directly connected to the sensor. A dynamical model of the sensor motion is formulated and identified, by considering also the kinematics of the robot. The proposed hybrid control scheme includes position and force controllers based on first and second order sliding modes. These kind of controllers guarantee suitable robustness properties to perform a satisfactory trajectory tracking, also allowing one to make the robot move in an environment with unknown obstacles by using the possibility of touching the obstacles as a way to pass them by. Experimental tests are performed on a COMAU SMART3-S2 anthropomorphic rigid robot manipulator with an ATI Gamma force sensor by comparing four different position/force control schemes.