From Robot Command to Real-Time Robot Control

Andreas Schierl, Andreas Angerer, Alwin Hoffmann, Michael Vistein and Wolfgang Reif

From Robot Command to Real-Time Robot Control - Transforming High-Level Robot Commands into Real-Time Dataflow Graphs

Task descriptions in robotics always provide a level of abstraction in order to simplify the use of robots. Nevertheless, aspects such as execution time determinism and closed-loop control are still essential for industrialstrength robotics systems. For this reason, we propose an approach to combine high-level task description with real-time robot control. At application runtime, coordinated and sensor-guided robot actions are composed using an object-oriented application programming interface. The resulting high-level command descriptions are then automatically transformed into dataflow graphs and executed with real-time guarantees on robot hardware. The approach is illustrated with several examples.
Proc. 9th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2012), Rome, Italy, July 28-31, 2012 DOI:


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