Open Modular Robot Control Architecture for Assembly Using the Task Frame Formalism | Zendy

Jochen Maaß | Zendy; Nnamdi Kohn | Zendy; Jürgen Hesselbach | Zendy

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Open Modular Robot Control Architecture for Assembly Using the Task Frame Formalism

Author(s) -

Jochen Maaß,

Nnamdi Kohn,

Jürgen Hesselbach

Publication year - 2006

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/5763

Subject(s) - computer science , programmer , modular design , robot , scheduling (production processes) , architecture , distributed computing , embedded system , artificial intelligence , programming language , art , economics , visual arts , operations management

The task frame formalism allows the programmer to overcome the drawbacks of the traditional robot oriented assembly programming, moving the programmer's focus on the robot task. Additionally skill primitives contribute to a more natural programming paradigm. In this paper a robot control architecture is presented that implements both of these concepts providing a framework to easily implement new control features. Focus is put on a novel modular trajectory generator and the applied three-layered scheduling design. This architecture is based on the communication middleware MIRPA-X and has been experimentally validated on the HEXA parallel manipulator. The future use of distributed computing and runtime scheduling optimization are discussed

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