Interfacing industrial robots using Realtime Primitives

Vistein, Michael; Angerer, Alfred; Hoffmann, Alwin; Schierl, Andreas; Reif, Wolfgang

doi:10.1109/ical.2010.5585330

Cited by 11 publications

(13 citation statements)

References 9 publications

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“…To be able to specify flexible computation modules, the Realtime Primitives Interface (RPI) was introduced in [17]. It consists of a data-flow language with a formal semantics, both inspired by Lustre [18].…”

Section: A Specification Of Computational Tasksmentioning

confidence: 99%

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

Vistein

Hoffmann

Angerer

et al. 2017

2017 First IEEE International Conference on Robotic Computing (IRC)

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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

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Section: A Specification Of Computational Tasksmentioning

confidence: 99%

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

Vistein

Hoffmann

Angerer

et al. 2017

2017 First IEEE International Conference on Robotic Computing (IRC)

Self Cite

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“…Using the Robotics API, the underlying Robot Control Core [28] is implemented in C++ for Xenomai and includes real-time capable drivers for devices connected to the corresponding computer. Additionally, the Realtime Primitives Interface [28] allows for the flexible definition of real-time logic to execute userdefined tasks. In this way, all devices physically connected to the computer can form a real-time context (cf.…”

Section: Support In Software Frameworkmentioning

confidence: 99%

On Structure and Distribution of Software for Mobile Manipulators

Schierl

Angerer

Hoffmann

et al. 2016

Informatics in Control, Automation and Robotics 12th International Conference, ICINCO 2015 Colmar, France, July 21-23, 2015 Rev

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Complex robot applications or the cooperation of multiple mobile robots are use cases of increasing popularity where software distribution becomes important. When developing mobile robot systems and applications, software structure and distribution has to be considered on various levels, with effects on the organization and exchange of data. With respect to structure and distribution, this work proposes to distinguish between real-time level, system level and application level. Ways of structuring the software, as well as advantages and disadvantages of distribution on each level are analyzed. Moreover, examples are given how this structure and distribution can be realized in the robotics frameworks OROCOS, ROS and the Robotics API. The results are demonstrated using a case study of two cooperating KUKA youBots handing over a work-piece while in motion, which is shown both in simulation and in a real world setup.

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“…Fig. 7), the Robotics Application Programming Interface (Robotics API), and a Robotics Control Core (RCC) which provides the Realtime Primitives Interface (RPI, see (Vistein et al, 2010)). The core idea behind this architecture is a splitting of concerns when developing robotic applications: the application workflow can be developed using the object-oriented Robotics API which provides a set of concepts to support the developer, like classes encapsulating manipulator or tool functionality, classes for modeling frames and physical objects and classes for accessing and processing sensor data.…”

Section: Implementation Challenges and Conceptsmentioning

confidence: 99%

Two-arm Robot Teleoperation using a Multi-touch Tangible User Interface

Angerer¹,

Bareth²,

Hoffmann³

et al. 2012

Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics

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Teleoperation of robots can be interesting in various scenarios: operation in hazardous environments, medical surgery in the presence of radiation or, in general, remote control of robots in (partially) unknown environments. Crucial to teleoperation systems is an intuitive interface for the remote operator to ensure straightforward and precise control of the operated system. Advanced hardware devices and powerful software frameworks allow for quick development of such interfaces. We present a case study implementing a novel two-arm robot teleoperation interface using multi-touch and tangible user interface concepts. The focus lies on the implementation of this system, using an object oriented robot programming framework and the Microsoft Surface as a user interface platform.

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Interfacing industrial robots using Realtime Primitives

Cited by 11 publications

References 9 publications

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

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

On Structure and Distribution of Software for Mobile Manipulators

Two-arm Robot Teleoperation using a Multi-touch Tangible User Interface

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