Implementation of a reactive semantics for an industrial manipulator using OPRoS

A Robot in factories has to execute its mission robustly in coarse environments and handle many types of events in dynamic real world. The former is related to dependability or real-time characteristics and the latter is related to reactivity or feasibility. But it is very difficult to prepare robot SW with reactivity and dependability at the same time for the industrial manipulators because general SW with feasibility fails to meet real-time requirements. Therefore, we suggest a method how to make industrial robot software have reactive semantics. For this aim, we use OPRoS (Open software Platform for Robotic Services) and application centric language interpreter. In this framework, state machine component connected abstracted sensor model components invoke signal to an interpreter component in order handle various external operation conditions. And the interpreter determines which robot behaviors will executed for the signals and make suitable robot behavior components work. Finally, we implement our robot software on mulit-core system in order to meet real-time needs including low-latency and strict period time.