Generic robotic and motion control API based on GISC-Kit technology and CORBA communications

Author

Burchard, Ross L. ; Feddema, John T.

Author_Institution

Intelligent Syst. & Robotics Center, Sandia Nat. Labs., Albuquerque, NM, USA

Volume

1

fYear

1996

fDate

22-28 Apr 1996

Firstpage

712

Abstract

This paper presents a generic robot and motion control applications programmers interface (API) based on generic intelligent systems control (GISC) technology and CORBA communications. The API provides a generic high-level interface for command sequences between a supervisory control system and devices ranging from one degree of freedom motion devices up to six degree of freedom robotic systems. The API manages distributed robotic control using CORBA communications across numerous platforms ranging from Unix workstations to PCs. The paper presents a description of the API functions and classes used to integrate the Sandia-developed GISC control architecture and commercial CORBA software to support device-independent robotic control

Keywords

application program interfaces; client-server systems; distributed control; intelligent control; motion control; object-oriented methods; robot dynamics; system buses; CORBA communications; Common Object Request Broker Architecture; Orbix communication software; Sandia National Laboratories; Unix workstations; VME bus; applications programmers interface; generic intelligent systems control; generic robot and motion control; supervisory control; Communication system control; Communications technology; Control systems; Intelligent control; Intelligent robots; Intelligent systems; Motion control; Programming profession; Robot control; Supervisory control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on

Conference_Location

Minneapolis, MN

ISSN

1050-4729

Print_ISBN

0-7803-2988-0

Type

conf

DOI

10.1109/ROBOT.1996.503858

Filename

503858