Authors:
Andreas Schierl
;
Andreas Angerer
;
Alwin Hoffmann
;
Michael Vistein
and
Wolfgang Reif
Affiliation:
University of Augsburg, Germany
Keyword(s):
Industrial Robotics, Robot Programming, Real-time Robot Control.
Related
Ontology
Subjects/Areas/Topics:
Control and Supervision Systems
;
Industrial Automation and Robotics
;
Industrial Engineering
;
Informatics in Control, Automation and Robotics
;
Real-Time Systems Control
;
Robot Design, Development and Control
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
Abstract:
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 industrial-strength 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.