A preliminary study of the RADOE project

Robotic softwares with convenient operation and programming are desirable to increase the efficiency and efficacy of industrial robots which work in complex and fickle environments. To develop such softwares, we aim to develop a new robotic software called RADOE (Robot Application Development and Operating Environment), under the support from the Science and Engineering Research Council, Singapore. In this paper, we introduce some of our preliminary results of the RADOE project, particularly on the system architecture design. The key objective of our RADOE is to define robotic tasks in a simple way, communicate with different industrial robots and control them under varying environmental conditions. To achieve this, we employ a hierarchical system structure with state machines to make it modular, extendible, robust, and maintainable. Experimental results on KUKA LBR iiwa robot show that RADOE combined with the developed system architecture demonstrates good performance for motion planning and tasks execution.