Time-Sensitive Networking for robotics

摘要

We argue that Time-Sensitive Networking (TSN) will become the de facto standard for real-time communications in robotics. We present a review and classification of the different communication standards which are relevant for the field and introduce the typical problems with traditional switched Ethernet networks. We discuss some of the TSN features relevant for deterministic communications and evaluate experimentally one of the shaping mechanisms in an exemplary robotic scenario. In particular, and based on our results, we claim that many of the existing real-time industrial solutions will slowly be replaced by TSN. And that this will lead towards a unified landscape of physically interoperable robot and robot components.