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.

scholarly journals An integrated software architecture for the pollution-based real-time control of urban drainage systems

2021 ◽  
Author(s):  
Luis Romero ◽  
Bernat Joseph-Duran ◽  
Congcong Sun ◽  
Jordi Meseguer ◽  
Gabriela Cembrano ◽  
...  
Keyword(s):  
Software Architecture ◽  
Real Time ◽  
Process Model ◽  
Drainage System ◽  
Urban Drainage ◽  
Real Time Control ◽  
Simulation And Optimization ◽  
Management Scenario ◽  
Time Control ◽  
Integrated Software

Abstract This paper presents a complete methodology for the development of an integrated software architecture, which can achieve a closed-loop application between the integrated real-time control (RTC) and a virtual reality simulation for the urban drainage system (UDS). Quality measurements are considered during the simulation and optimization process. Model predictive control (MPC) and rule-based control (RBC) are the two main RTC methods embedded in this architecture. The proposed integration environment allows the different software components to efficiently and effectively communicate and work in a system-wide way, as well as to execute all the necessary steps regarding input parameters management, scenario configuration and results extraction. The proposed approaches are implemented into a pilot based on the Badalona UDS (Spain). Results from different scenarios with individual control approaches and rain episodes are evaluated and discussed.

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.

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