Title :
Construction of Software Library for Robots
Author :
Nakano, Masahito ; He, Yingxin ; Miyamoto, Toshihisa ; Tatsuno, Kyoichi
Author_Institution :
Dept. of Electr. & Electron. Eng., Meijo Univ., Nagoya
Abstract :
We have proposed an architecture for easily constructing a robot controller. A controller has 7 agents and 3 databases. Agents are Man-Machine Interface, Task Planner, Motion Planner, Arm Controller, Visual Vision System, and CG Display. And databases are Work Knowledge Database, Environment Database and Robot Database. We construct this controller in C language easily as a function library such an Open GL(Open Graphics Library). A feature of this controller is one which can operate by command of task level. And also, the robot can work other tasks if we add only databases. This paper shows a Robot Controller Architecture as a sample of executing a task "Pick And Place".
Keywords :
C language; computer displays; computer graphic equipment; human-robot interaction; manipulator kinematics; mobile robots; path planning; robot vision; software libraries; user interfaces; C language; CG display; arm controller; environment database; man-machine interface; motion planner; open graphics library; robot controller architecture; robot database; software library; task planner; visual vision system; work Knowledge database; Character generation; Computer architecture; Control systems; Machine vision; Motion control; Robot control; Software libraries; Spatial databases; User interfaces; Visual databases;
Conference_Titel :
Micro-NanoMechatronics and Human Science, 2008. MHS 2008. International Symposium on
Conference_Location :
Nagoya
Print_ISBN :
978-1-4244-2918-9
Electronic_ISBN :
978-1-4244-2919-6
DOI :
10.1109/MHS.2008.4752494
