A reusable operational software architecture for advanced robotics

摘要: Robotic software can be broadly categorized into two levels. The first is the actuator control software. other level system Three layers further comprise top-most man-machine interface. lowest real-time layer. middle layer known as operational layer. Current industrial robots are monolithic six degrees-of-freedom manipulators that have minimal requirements. On hand, advanced based on modularity, redundancy, fault-tolerance, and performance. for these should general reconfigurable, support kinematics, dynamics, deflection modeling, performance criteria, condition-based maintenance. development of a reusable architecture prime goal this research. This includes: (1) requirements generation an robotic system, (2) selection development, execution, test environment, (3) to Operational Software Components Advanced Robots (OSCAR), (4) applications demonstrate OSCAR in simulation wide variety seventeen dual-arm manipulator, (5) design experiments validate advantages OSCAR, (6) demonstration formulation direct-search generalized inverse kinematics scheme. The object-oriented design. Object-oriented professes components extensible standardized interfaces. application philosophy led break-down robotics domain sub-domains. An analysis sub-domains lead identification made up sub-domain. A detailed then followed. Applications experimentation validated effectiveness architecture. Achieved goals were demonstrated by applications. provided 30% improvement its 'ease use' approximately 200% reduction program time compared use at Robotics Research Group. The technique showed 170-times when used seven robot.