Title :
RTOC: A Rt-Linux Based Open Robot Controller
Author :
Xu, Hua ; Jia, Peifa
Author_Institution :
State Key Lab. of Intelligent Technol. & Syst., Tsinghua Univ., Beijing
Abstract :
An open robot control system pursues easy extension, flexible reconfiguration, facile portability and jointless interoperation. Therefore, the system elements from multi-disciplinary areas can be integrated and reconfigured easily in such a system. Also the system modules can be ported flexibly. In this paper, a Rt-Linux based open robot controller (RTOC) is investigated. A reference model for robot controlling is proposed, in which hardware platform, operating system module and application modules are included. Then for the implementation of RTOC, two critical implementation problems - layered architecture and the intra-layer interfaces are discussed on the base of its reference model. The RTOC openness is also analyzed. Consequently, the proposed RTOC is applied to an industrial arc welding robot
Keywords :
Linux; control engineering computing; open systems; production engineering computing; robot programming; robotic welding; software architecture; Rt-Linux based open robot control; facile portability; industrial arc welding robot; intra-layer interfaces; jointless interoperation; layered architecture; Application software; Automatic control; Control systems; Hardware; Intelligent robots; Intelligent systems; Open systems; Operating systems; Robot control; Service robots; Open systems; Real time systems; Robot programming; Robotics;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.282056
