RTOC: A Rt-Linux Based Open Robot Controller

Author

Xu, Hua ; Jia, Peifa

Author_Institution

State Key Lab. of Intelligent Technol. & Syst., Tsinghua Univ., Beijing

fYear

2006

fDate

9-15 Oct. 2006

Firstpage

1644

Lastpage

1649

Abstract

An open robot control system pursues easy extension, flexible reconfiguration, facile portability and jointless interoperation. Therefore, the system elements from multi-disciplinary areas can be integrated and reconfigured easily in such a system. Also the system modules can be ported flexibly. In this paper, a Rt-Linux based open robot controller (RTOC) is investigated. A reference model for robot controlling is proposed, in which hardware platform, operating system module and application modules are included. Then for the implementation of RTOC, two critical implementation problems - layered architecture and the intra-layer interfaces are discussed on the base of its reference model. The RTOC openness is also analyzed. Consequently, the proposed RTOC is applied to an industrial arc welding robot

Keywords

Linux; control engineering computing; open systems; production engineering computing; robot programming; robotic welding; software architecture; Rt-Linux based open robot control; facile portability; industrial arc welding robot; intra-layer interfaces; jointless interoperation; layered architecture; Application software; Automatic control; Control systems; Hardware; Intelligent robots; Intelligent systems; Open systems; Operating systems; Robot control; Service robots; Open systems; Real time systems; Robot programming; Robotics;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Conference_Location

Beijing

Print_ISBN

1-4244-0258-1

Electronic_ISBN

1-4244-0259-X

Type

conf

DOI

10.1109/IROS.2006.282056

Filename

4058610