This paper presents the challenges met in the development of a new framework for multiaxis and multirobot control. The increasing demand for multirobot collaboration and robotic assistance, both in industry and servic...
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This paper presents the challenges met in the development of a new framework for multiaxis and multirobot control. The increasing demand for multirobot collaboration and robotic assistance, both in industry and service applications, has raised the level of interactions between robots and humans in a shared environment with real-time constraints. Some scientific and technological issues need to be unlocked to ensure safe human robot interactions: to guarantee the response time during the robot perception action process, to cope with dynamic interactions with the robot environment, to secure the collaborations between several machines and humans, and to improve the integration of the robots at home and in open zones of production lines. The specifications of a new hardware and software framework are set with respect to these observations. The framework will meet complex research and industrial issues for the future of multiaxis and multirobot control. Betbre introducing our approach, a brief survey of existing frameworks and robotic middleware is given. The foundations of our approach are based on the following requirements: the framework must be real time, transferable, maintainable, and multimanufacturer. The framework design has also to guarantee the robustness of the machine interactions in a dynamic and collaborative environment. To evaluate the feasibility of our design strategy and assess its performance, we have developed mechatronic devices with a high level of human machine collaboration. This paper outlines two robotic applications which require multirobot real-time synchronization and are based on the proposed framework. A temporal analysis demonstrates its robustness for multiaxis and multirobot control. Note to Practitioners This paper was motivated by the problem of proposing a transferable framework dedicated to real-time multiaxis and multirobot control. Most of the existing middleware solutions do not unify accesses to the axis level and to the robot
For many years robotics has been benefited from the open source community. Software community projects like Player, Stage, Gazebo, ROS, or openCV are present in most robotic applications. In recent years this trend ha...
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For many years robotics has been benefited from the open source community. Software community projects like Player, Stage, Gazebo, ROS, or openCV are present in most robotic applications. In recent years this trend has also been initiated among electronic and mechanical developments (open hardware). The Arduino development platform is a good example of a successful hardware project with a great community of developers and users around it. The apparition of personal 3D printers is bringing the open source philosophy to the fabrication of physical things as well. This new technology is in need of new designing tools to take advantage of it. In this paper we are presenting the C++ Object Oriented Mechanics Library (OOML), a tool to design mechanical components, taking into account the needs and requirements of these emerging technologies. These designs can be easily shared, reused, and modified. The OOML brings together the advantages of (1) modelling things through code, (2) the object oriented programming paradigm, and (3) the power of C++. In the OOML, mechanical parts are described as geometrical combinations of basic primitives. Once a part is defined, fabrication files can be generated in order to print, or mechanize it. Models could also be used for simulation, visualization, structural analysis, etc.
Cílem bakalářské práce je návrh a implementace řídícího programu pro mobilní robotickou platformu TurtleBot3 Burger. V teoretické části bakalářské pr...
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Cílem bakalářské práce je návrh a implementace řídícího programu pro mobilní robotickou platformu TurtleBot3 Burger. V teoretické části bakalářské práce je vymezena problematika mobilní robotiky, s bližším pohledem na různé možnosti lokomoce, včetně ukázek z průmyslové praxe. Série mobilních robotů TurtleBot3 patří mezi robotické platformy, distribuované společností ROBOTIS, kde jejich hlavním znakem je kompatibilita s Robotickým Operačním Systémem (ROS). Jádro tohoto systému spadá pod BSD licenci, zaručující otevřený zdrojový kód. Integrace ROS s modelem TurtleBot3 Burger poskytuje volně přístupné robustní knihovny, tvořící základ pro pochopení ovládání diferenciálně řízeného robotu skrze ROS. V praktické části je provedena montáž a konfigurace robotické stavebnice TurtleBot3 Burger, včetně představení klíčových funkcionality této mobilní platformy, a návrh vlastního řešení. Závěr obsahuje odůvodnění zmíněného návrhu a výstup po jeho implementaci na reálném robotu.
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