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

fYear

2008

fDate

6-9 Nov. 2008

Firstpage

447

Lastpage

450

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/MHS.2008.4752494

Filename

4752494