Hiding Real-Time: A new Approach for the Software Development of Industrial Robots

Alwin Hoffmann, Andreas Angerer, Frank Ortmeier, Michael Vistein and Wolfgang Reif

The application of industrial robots is strongly limited by the use of old-style robot programming languages. Due to these languages, the development of robotic software is a complex and expensive task requiring technical expertise and time. Hence, the use of industrial robots is often not a question of technical feasibility but of economic efficiency. This paper introduces a new architectural approach making available modern concepts of software engineering for industrial robots. The core idea is to hide the real-time critical robot control from application developers. Instead, common functionality is provided by a generic and extensible application programming interface and can be easily used. Hence, this approach can lead to an industrialization of software development for industrial robotics.
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 11 - 15, 2009, St. Louis, MO, USA