Hiding real-time: A new approach for the software development of industrial robots

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

Schierl

et al. 2010

Self Cite

During the last two decades, software development has evolved continuously into an engineering discipline with systematic use of methods and tools to model and implement software. For example, object-oriented analysis and design is structuring software models according to real-life objects of the problem domain and their relations. However, the industrial robotics domain is still dominated by old-style, imperative robot programming languages, making software development difficult and expensive. For this reason, we introduce the object-oriented Robotics Application Programming Interface (Robotics API) for developing software for industrial robotic applications. The Robotics API offers an abstract, extensible domain model and provides common functionality, which can be easily used by application developers. The advantages of the Robotics API are illustrated with an application example.

Section: Object-orientation In Industrial Roboticsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

The Robotics API: An object-oriented framework for modeling industrial robotics applications

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

Schierl

et al. 2010

Self Cite

“…The above mentioned runtime environment is based on a software architecture [10] which is geared towards realizing complex, sensor-guided manipulation tasks of single robots or small teams of robots. The main idea is that robotics software is developed against the modular Robotics API [11] and robot operations are executed with hard real-time guarantees on the underlying Robot Control Core (RCC) [12].…”

Section: Introductionmentioning

confidence: 99%

Towards Re-orchestration of Real-Time Component Systems in Robotics

Vistein

2017 First IEEE International Conference on Robotic Computing (IRC)

et al. 2017

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Over the last decade, there has been a trend towards component-based systems in robotics software engineering. Although the aspect of real-time is important to control manipulators with high velocities or forces, it has often been neglected. In this paper, we present a runtime environment for real-time component systems in robotics. It allows for a generic specification of computation tasks and employs a flexible, rule-based mechanism for composing and coordinating multiple components. Moreover, the runtime environment is capable of seamlessly re-orchestrating the composition of realtime components at run-time to adapt to new tasks-even when the robotics system is moving with high speed. For illustration, two examples are given. Each of the five concerns (5Cs) is used to describe the runtime environment and its concepts and ideas for building

“…Within the research project SoftRobot, a software architecture [2] has been created that enables programming complex real-time critical industrial robot applications in Java (see Fig. 1).…”

Section: Introductionmentioning

confidence: 99%

Instantaneous switching between real-time commands for continuous execution of complex robotic tasks

Vistein

2012 IEEE International Conference on Mechatronics and Automation

et al. 2012

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An application program for one or even several industrial robots usually consists of a number of disjoint commands, with each command controlling the robot to perform a certain task like motions or tool interactions. Sometimes it is desirable to be able to switch from one such command to another command with time guarantees for the switching progress, e.g. for blending one motion into another. In this paper we propose an approach to achieve this with two separate commands, where the second command can be created while the first is already being executed.