A Flexible Software Architecture for Robotic Industrial Applications

Rendiniello, Angelo; Remus, Alberto; Sorrentino, Ines; Murali, Prajval Kumar; Pucci, Daniele; Maggiali, Marco; Natale, Lorenzo; Traversaro, Silvio; Villagrossi, Enrico; Polo, Andrea de; Ardesi, Alessandro

doi:10.1109/etfa46521.2020.9212095

Cited by 6 publications

(3 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Some visual programming systems propose personal graphical user interfaces (Schou et al, 2018) that use buttons, menus, windows, textual inputs, and sliders. The standard IEC-61131-3, which defines programming languages for automation, provide visual programming languages, such as the Function Block (FB) or the Sequential Flow Chart (SFC), that can also be used for robot programming as standard languages (Thormann and Winkler, 2021;Rendiniello et al, 2020). These languages are suitable for beginner programmers.…”

Section: Related Workmentioning

confidence: 99%

Hiding task-oriented programming complexity: an industrial case study

Villagrossi¹,

Delledonne²,

Faroni³

et al. 2023

Preprint

View full text Add to dashboard Cite

The ease of use of robot programming interfaces represents a barrier to robot adoption in several manufacturing sectors because of the need for more expertise from the end-users. Current robot programming methods are mostly the past heritage, with robot programmers reluctant to adopt new programming paradigms. This work aims to evaluate the impact on non-expert users of introducing a new task-oriented programming interface that hides the complexity of a programming framework based on ROS. The paper compares the programming performance of such an interface with a classic robot-oriented programming method based on a state-of-the-art robot teach pendant. An experimental campaign involved 22 non-expert users working on the programming of two industrial tasks. Task-oriented and robot-oriented programming showed comparable learning time, programming time and the number of questions raised during the programming phases, highlighting the possibility of a smooth introduction to task-oriented programming even to non-expert users.

show abstract

Section: Related Workmentioning

confidence: 99%

Hiding task-oriented programming complexity: an industrial case study

Villagrossi¹,

Delledonne²,

Faroni³

et al. 2023

Preprint

View full text Add to dashboard Cite

show abstract

“…Architecture of Robot Software: Many software architectures have been designed for industrial robot applications (Rendiniello et al 2020) to cope with robot-language dependency. While they address this, they limit users' ability to develop new functions.…”

Section: Related Workmentioning

confidence: 99%

PerFC: An Efficient 2D and 3D Perception Software-Hardware Framework for Mobile Cobot

Dang

Nguyen

Huber

2023

FLAIRS

View full text Add to dashboard Cite

In this work, we present an end-to-end software-hardware framework that supports both conventional hardware and software components and integrates machine learning object detectors without requiring an additional dedicated graphic processor unit (GPU). We design our framework to achieve real-time performance on the robot system, guarantee such performance on multiple computing devices, and concentrate on code reusability. We then utilize transfer learning strategies for 2D object detection and fuse them into depth images for 3D depth estimation. Lastly, we test the proposed framework on the Baxter robot with two 7-DOF arms and a four-wheel mobility base. The results show that the robot achieves real-time performance while executing other tasks (map building, localization, navigation, object detection, arm moving, and grasping) with available hardware like Intel onboard GPUs on distributed computers. Also, to comprehensively control, program, and monitor the robot system, we design and introduce an end-user application. The source code is available at https://github.com/tuantdang/perception_framework.

show abstract

“…Due to the increasing complexity of robotic systems and the everincreasing diversity of applications and missions of robots, the design and development of performing and correct robotic software architectures has become a major issue [2]. The progress of the software industry has opened new opportunities and made the application of software engineering one of the main research areas in the robotics field, as shown by the important number of recent research works carried out on the development of robotic software ( [3][4][5][6][7][8][9][10][11][12][13][14][15][16][17], etc.). One of the challenges of robotics today is to use techniques, tools, and methods that are proven in the development of "traditional" software systems to increase productivity in the development of robotic systems while ensuring the quality of their software architecture.…”

Section: Introductionmentioning

confidence: 99%

A Model-Based Approach for Common Representation and Description of Robotics Software Architectures

2022

View full text Add to dashboard Cite

Unlike conventional software, robotic software suffers from a lack of methods and processes that could systematize and facilitate development. Thus, the application of software engineering techniques is at the heart of current issues in robotics. The work presented in this paper aims to facilitate the development of robotic software and to facilitate communication between experts in the field through the use of software engineering techniques and methods. It proposes RsaML (Robotic Software Architecture Modeling Language), a Domain Specific Modeling Language (DSML) dedicated to robotics, which takes into account the different categories of robotic software architectures and makes it possible to describe the latter independently from the implementation platform. The conceptual model defining the terminology and the hierarchy of concepts used for the description and representation of robotic software architectures in RsaML are presented in this article. RsaML is defined through a meta-model which represents the abstract syntax of the language. The real-time properties of robotic software architectures are identified and included in the meta-model. The use of RsaML is illustrated through several experimental scenarios of the language: the definition of a robotic system and the description of its software architecture, the verification of the semantics of a robotic software architecture, and the modeling of a robotic system whose software architecture does not belong to the usual categories. The support tool used for implementations and experimentation is Eclipse Modeling Framework (EMF). The results of experimentation showed good working of the proposed solution and made it possible to validate the main concepts of the RsaML language.

show abstract

A Flexible Software Architecture for Robotic Industrial Applications

Cited by 6 publications

References 14 publications

Hiding task-oriented programming complexity: an industrial case study

Hiding task-oriented programming complexity: an industrial case study

PerFC: An Efficient 2D and 3D Perception Software-Hardware Framework for Mobile Cobot

A Model-Based Approach for Common Representation and Description of Robotics Software Architectures

Contact Info

Product

Resources

About