Title :
The real-time motion control core of the Orocos project
Author :
Bruyninckx, Herman ; Soetens, Peter ; Koninckx, Bob
Author_Institution :
Dept. of Mech. Eng., Katholieke Univ., Leuven, Heverlee, Belgium
Abstract :
This paper describes the current state, and the ongoing developments, of the hard real-time motion control core, of the OROCOS project (Open Robot Control Software). This core is a component-based, distributed and configurable software framework. The presentation discusses both the design and the current implementation. The design separates the structure of the control system from its functionality. Its hard real-time core provides a generic control structure, with plug-in facilities for customization.
Keywords :
intelligent control; motion control; object-oriented programming; real-time systems; robot programming; software architecture; control system structure; customization; open robot control software project; plug-in facilities; real-time motion control core; software framework; Application software; Computer architecture; Control systems; Mechanical engineering; Motion control; Programmable control; Real time systems; Robot control; Signal generators; Signal processing;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1242011
