Design and implementation of the Robotic Platform

Author

Loffler, Markus S. ; Chitrakaran, Was K. ; Dawson, Darren M.

Author_Institution

Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA

fYear

2001

fDate

2001

Firstpage

357

Lastpage

362

Abstract

This paper describes the design and implementation of the Robotic Platform, an object-oriented development platform for robotic applications. The Robotic Platform includes servo control, trajectory generation, 3D simulation, a graphical user interface, and a math library. As opposed to distributed solutions, the Robotic Platform implements all these components on a single hardware platform (a standard PC), with a single programming language (C++), and on a single operating system (the QNX Real-Time Platform) while guaranteeing deterministic real-time performance. This design leads to an open architecture that is less complex, easier to use, and easier to extend

Keywords

C++ language; manipulators; object-oriented programming; position control; 3D simulation; C++ language; QNX real-time platform; Robotic Platform; deterministic real-time performance; graphical user interface; math library; object-oriented development platform; servo control; single hardware platform; single operating system; trajectory generation; Application software; Computer architecture; Computer languages; Graphical user interfaces; Hardware; Operating systems; Real time systems; Robot control; Robot programming; Software libraries;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 2001. (CCA '01). Proceedings of the 2001 IEEE International Conference on

Conference_Location

Mexico City

Print_ISBN

0-7803-6733-2

Type

conf

DOI

10.1109/CCA.2001.973891

Filename

973891