scholarly journals Real-Time Control in Robotic Systems

10.5772/27883 ◽  
2012 ◽  
Author(s):  
Alex Simpkins
Keyword(s):  
Real Time ◽  
Robotic Systems ◽  
Real Time Control ◽  
Time Control

scholarly journals XBot: A Cross-Robot Software Framework for Real-Time Control

2021 ◽  
Author(s):  
Luca Muratore ◽  
Arturo Laurenzi ◽  
Nikos G. Tsagarakis
Keyword(s):  
Software Architecture ◽  
Real Time ◽  
Humanoid Robots ◽  
Robotic Systems ◽  
Real Time Control ◽  
Software Infrastructure ◽  
Robotic Arms ◽  
Time Control ◽  
Control Frequency ◽  
High Control

The widespread use of robotics in new application domains outside the industrial workplace settings requires robotic systems which demonstrate functionalities far beyond that of classical industrial robotic machines. The implementation of these capabilities inevitably increases the complexity of the robotic hardware, control a and software components. This chapter introduces the XBot software architecture for robotics, which is capable of Real-Time (RT) performance with minimum jitter at relatively high control frequency while demonstrating enhanced flexibility and abstraction features making it suitable for the control of robotic systems of diverse hardware embodiment and complexity. A key feature of the XBot is its cross-robot compatibility, which makes possible the use of the framework on different robots, without code modifications, based only on a set of configuration files. The design of the framework ensures easy interoperability and built-in integration with other existing software tools for robotics, such as ROS, YARP or OROCOS, thanks to a robot agnostic API called XBotInterface. The framework has been successfully used and validated as a software infrastructure for collaborative robotic arms as KUKA lbr iiwa/lwr 4+ and Franka Emika Panda, other than humanoid robots such as WALK-MAN and COMAN+, and quadruped centaur-like robots as CENTAURO.

Modeling and Simulation of Discrete Event Robotic Systems Using Extended Petri Nets

2012 ◽  
pp. 51-69
Author(s):  
Gen’ichi Yasuda
Keyword(s):  
Petri Nets ◽  
Real Time ◽  
Discrete Event ◽  
Control Flow ◽  
Coordination Mechanism ◽  
Robotic Systems ◽  
Real Time Control ◽  
Time Control ◽  
Extended Petri Nets ◽  
Implementation Problems

This chapter deals with modeling, simulation, and implementation problems encountered in robotic manufacturing control systems. Extended Petri nets are adopted as a prototyping tool for expressing real-time control of robotic systems and a systematic method based on hierarchical Petri nets is described for their direct implementation. A coordination mechanism is introduced to coordinate the event activities of the distributed machine controllers through friability tests of shared global transitions. The proposed prototyping method allows a direct coding of the inter-task cooperation by robots and intelligent machines from the conceptual Petri net specification, so that it increases the traceability and the understanding of the control flow of a parallel application specified by a net model. This approach can be integrated with off-the-shelf real-time executives. Control software using multithreaded programming is demonstrated to show the effectiveness of the proposed method.

A programming environment for real-time control of distributed multiple robotic systems

2000 ◽  
Vol 14 (1) ◽  
pp. 75-86 ◽  
Author(s):  
Maurizio Piaggio ◽  
Antonio Sgorbissa ◽  
Renato Zaccaria
Keyword(s):  
Real Time ◽  
Robotic Systems ◽  
Programming Environment ◽  
Real Time Control ◽  
Time Control

Modeling and Simulation of Discrete Event Robotic Systems Using Extended Petri Nets

2012 ◽  
pp. 577-593
Author(s):  
Gen’ichi Yasuda
Keyword(s):  
Petri Nets ◽  
Real Time ◽  
Discrete Event ◽  
Control Flow ◽  
Coordination Mechanism ◽  
Robotic Systems ◽  
Real Time Control ◽  
Time Control ◽  
Extended Petri Nets ◽  
Implementation Problems

This chapter deals with modeling, simulation, and implementation problems encountered in robotic manufacturing control systems. Extended Petri nets are adopted as a prototyping tool for expressing real-time control of robotic systems and a systematic method based on hierarchical Petri nets is described for their direct implementation. A coordination mechanism is introduced to coordinate the event activities of the distributed machine controllers through friability tests of shared global transitions. The proposed prototyping method allows a direct coding of the inter-task cooperation by robots and intelligent machines from the conceptual Petri net specification, so that it increases the traceability and the understanding of the control flow of a parallel application specified by a net model. This approach can be integrated with off-the-shelf real-time executives. Control software using multithreaded programming is demonstrated to show the effectiveness of the proposed method.

Navigation of mobile robots using a fuzzy behaviorist approach and custom-designed fuzzy inferencing boards

Robotica ◽  
1994 ◽  
Vol 12 (6) ◽  
pp. 491-503 ◽  
Author(s):  
François G. Pin ◽  
Yutaka Watanabe
Keyword(s):  
Mobile Robots ◽  
Fuzzy Sets ◽  
Real Time ◽  
Qualitative Reasoning ◽  
Robotic Systems ◽  
Real Time Control ◽  
The Real ◽  
Time Control

SummaryTwo types of computer boards incorporating recently developed VLSI fuzzy inferencing chips have been developed to support the addition of qualitative reasoning capabilities to the real-time control of robotic systems. The design and operation of these boards are first reviewed and their use, in conjunction with our proposed Fuzzy Behaviorist approach, is discussed. This approach uses superposition of elemental sensor-based behaviors expressed in the Fuzzy Sets theoretic framework, to emulate "human-like" reasoning inrobotic systems.

scholarly journals Derivative-Based Koopman Operators for Real-Time Control of Robotic Systems

2021 ◽  
pp. 1-10
Author(s):  
Giorgos Mamakoukas ◽  
Maria L. Castano ◽  
Xiaobo Tan ◽  
Todd D. Murphey
Keyword(s):  
Real Time ◽  
Robotic Systems ◽  
Real Time Control ◽  
Time Control

A Real Time Control Architecture for Continuously Managing Patients in a Care Unit

1995 ◽  
Vol 34 (05) ◽  
pp. 475-488
Author(s):  
B. Seroussi ◽  
J. F. Boisvieux ◽  
V. Morice
Keyword(s):  
Real Time ◽  
Linear Time ◽  
Treatment Plan ◽  
Control Architecture ◽  
Real Time Control ◽  
Time Representation ◽  
Time Control ◽  
Continuous Support ◽  
Definition Of ◽  
Computerized System

Abstract:The monitoring and treatment of patients in a care unit is a complex task in which even the most experienced clinicians can make errors. A hemato-oncology department in which patients undergo chemotherapy asked for a computerized system able to provide intelligent and continuous support in this task. One issue in building such a system is the definition of a control architecture able to manage, in real time, a treatment plan containing prescriptions and protocols in which temporal constraints are expressed in various ways, that is, which supervises the treatment, including controlling the timely execution of prescriptions and suggesting modifications to the plan according to the patient’s evolving condition. The system to solve these issues, called SEPIA, has to manage the dynamic, processes involved in patient care. Its role is to generate, in real time, commands for the patient’s care (execution of tests, administration of drugs) from a plan, and to monitor the patient’s state so that it may propose actions updating the plan. The necessity of an explicit time representation is shown. We propose using a linear time structure towards the past, with precise and absolute dates, open towards the future, and with imprecise and relative dates. Temporal relative scales are introduced to facilitate knowledge representation and access.

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