Object-Oriented Robot Control Framework
نویسندگان
چکیده
Object-oriented frameworks are a promising new technology to improve software quality and reduce development costs. In contemporary software development frameworks play an increasingly important role. Subject of our paper is an object-oriented ready-to-use framework for robot control systems. benefits are the fast software development, the better quality of software and the reduction of costs. II. ROBOT CONTROL FRAMEWORK Like other frameworks the Robot Control Framework is based on an existing object-oriented robot control system the HighRobot control [7]. The framework is realized in C++ [15] and supports operating systems with POSIX.4 [4] real-time extensions. With the Robot Control Framework especially multitasking control systems can be developed. The framework covers robot control functionality like path planning as well as the control of peripheral devices. It supports standard control hardware such as workstations and PCs with standard operating systems. Furthermore the framework provides an interface for the development of new control software such as a numeric control. Drive Controllers for Robot Drives SPARC Workstation or Windows NT PC Open Robot Control
منابع مشابه
Visual Tracking using Learning Histogram of Oriented Gradients by SVM on Mobile Robot
The intelligence of a mobile robot is highly dependent on its vision. The main objective of an intelligent mobile robot is in its ability to the online image processing, object detection, and especially visual tracking which is a complex task in stochastic environments. Tracking algorithms suffer from sequence challenges such as illumination variation, occlusion, and background clutter, so an a...
متن کاملSimulation of Position Based Visual Control and Performance Tests of 6R Robot
This paper presents simulation and experimental results of position-based visual servoing control process of a 6R robot using 2 fixed cameras. This method has the ability to deal with real time changes in the relative position of the target-object with respect to robot. Also, greater accuracy and independency of servo control structure from the target pose coordinates are the additional advanta...
متن کاملFingertip Radius Effect of an on-Surface-Manipulated Object
Cooperative arms are two or more arms in series which assume the structure of a parallel robot on account of gripping an intermediary object, and are commonly used in accurate assembly industries, coaxialization, movement of object, etc. Gripping an intermediary object is one of the complicated subjects in analysis of cooperative arms, whose analysis is mostly dependent upon the manner the obje...
متن کاملObject-Oriented Control Systems on Standard Hardware
We introduce an object-oriented design of a universal control system based on standard hardware like workstations or PCs. This system supports the control of industrial devices such as robot arms, Cartesian systems or I/O units. The new architecture merges the bonds of the traditional control components such as robot controls (RC), numeric controls (NC) or programmable logic controllers (PLC). ...
متن کاملEffective Mechatronic Models and Methods for Implementation an Autonomous Soccer Robot
Omni directional mobile robots have been popularly employed in several applications especially in soccer player robots considered in Robocup competitions. However, Omni directional navigation system, Omni-vision system and solenoid kicking mechanism in such mobile robots have not ever been combined. This situation brings the idea of a robot with no head direction into existence, a comprehensi...
متن کامل