fme - distributed robot control system based on the real-time linux platform

8/9/2019 FME - Distributed Robot Control System Based on the Real-Time Linux Platform

1/5

Goran . Ferenc

Research

LOLA Institute, Belgrade

Maja M. Lutovac

Research


Jelena Z. Vidakovi

Research


Zoran . Dimi

Research


Vladimir M. Kvrgi

Research


Distributed Robot Control System

Based on the Real-Time Linux Platform

This paper presents a development of a new distributed control system for

robots control. The system is based on the real-time Linux platform onwhich OROCOS open architecture software is set designed specifically for

creating applications of this type. The system consists of components of

various structures and with different roles. They can be distributed to

different hardware platforms with the same operating system. Components

can communicate through the COR! protocol. The system is designed as

a modular solution that allows easy connection and disconnection of

components with various functions depending on the needs of applications

including communicatation with different types of hardware. That way the

structure of the system remains the same.

Keywords: robot control system" distributed control system" real-time

Linux" OROCOS.

1.INTRODUCTION

Industrial robots are included in a wide range ofapplications today, so there are many configurations,

physical shapes and drive robot systems. As the demandfor increased performances is constantly growing,requirements for better and more complex controllersare on the rise.

There are two solutions to deal with problem. First,it is possible to retrofit robots, which includesreplacement of some working parts machine parts,machine hardware! and the development of all softwarefeatures. These changes are significant and expensiveand take a long time. An open architecture appears as aalternative solution to problem. This way, almost allfeatures in the design can be changed by everyone aswell as by the original manufacturer. The price of thedevelopment becomes less and development requiresless time. These benefits are achieved by using openarchitecture and open source software platforms.

"evelopment of a new control system for #ola

Institute$s robots started on a previous version of #olaInstitute$s robot controller developed on the %&'( real'time platform. )nlike the previous version whichrequired a specific set of hardware the new version ofthe system is developed on the real'time #inux

platform, where the #inux kernel is patched with*enomai. %+%%& %pen +obot ontrol &oftware!libraries are installed on this platform and designedspecifically for the development of applications forrobot control. In this way, the real'time part of thecontrol system is completely changed regard to previousversion of the system. -ew control system is openarchitecture and is modernied according to the

development of similar control systems in the world,achieving greater efficiency and speed /01.2.OROCOS

%+%%& %pen +obot ontrol &oftware! is a2uropean pro3ect, started on &eptember 0st, 4550. Threelaboratories are participating6 the 7atholieke)niversiteit #euven 7)#euven, 8elgium, pro3ectcontractor!, the #aboratory for Analysis andArchitecture of &ystems -+&9#AA&, France! and7ungl Tekniska :;gskolan 7T:, &weden!. Faculty of


2/5

environment.%pen standards are very important for efficient

sharing of software and for its cooperative development.%nly an open source pro3ect can guarantee the optimaluse of open standards. The most important standardsthat the %+%%& pro3ect supports are6

The COR! #$L for ob3ect embedding.Through the II%D Internet Inter'%rb Drotocol!, all

different implementations of %+8A are interoperable.%+8A also has a real'time extension, which is veryimportant for robot control.

The structured document language %&L forconfiguration and data files.

&odelicafor modeling of dynamical systems. $ocoo'andL!T(%for documentation. 8oth

are platform independent, open source and can betranslated into many other formats and as such they arethe preferred text processing vehicles.

%+%%& does not want to impose a standardprogramming language. The philosophy behind this

strategy is that the best tool for the 3ob should be used.The %+8A middleware is able to work in anheterogeneous programming language environment.

The %+%%& software system uses support fromother open source software pro3ects. &ome of the

pro3ects that %+%%& can be built on are6 Octave is a very rich numerical library that

uses the same foundations as, and in its scripting form isvery compatible with,


3/5

build their components which are configurable using*


4/5

The &ampler is the component that generates thesampling rate of the control loop and synchronies theother components. It generates an 2vent which isreceived by the other components, automaticallytriggering a control cycle. The &ampler is configured inthe *


5/5

0arallel inematic &achine, F

fme - distributed robot control system based on the real-time linux platform

Documents