Distributed Interpolation: Synchronization of motion-controlled axes with coordination vector and decentralized segment controllers

In this paper, we present an approach for a distributed interpolation which coordinates and synchronizes the movements of multiple linear axes without a central motion control unit. With this concept, axes equipped with novel individual miniature controls can achieve synchronized interpolation without a central coordination unit as a motion control or CNC present. This application is especially interesting for manufacturing setups undergoing frequent reconfigurations as the decentral setup has shorter configuration times and offers integration of multiple vendors independent of proprietary field bus communication standards thus offering reuse of automation components. We consult applications from swarm-robotics and transfer algorithms to the motion control problem. The proposed coordination algorithm is validated in a MATLAB Simulink environment, as well as a commercial four axes pick-and-place demonstrator.