RTOC: A Rt-Linux Based Open Robot Controller

An open robot control system pursues easy extension, flexible reconfiguration, facile portability and jointless interoperation. Therefore, the system elements from multi-disciplinary areas can be integrated and reconfigured easily in such a system. Also the system modules can be ported flexibly. In this paper, a Rt-linux based open robot controller (RTOC) is investigated. A reference model for robot controlling is proposed, in which hardware platform, operating system module and application modules are included. Then for the implementation of RTOC, two critical implementation problems- layered architecture and the intra-layer interfaces are discussed on the base of its reference model. The RTOC openness is also analyzed. Consequently, the proposed RTOC is applied to an industrial arc welding robot.

Authors

• Hua Xu
• Peifa Jia

Keywords

• Robot control
• Control systems
• Hardware
• Intelligent robots
• Operating systems
• Service robots
• Application software
• Open systems
• Automatic control
• Intelligent systems
• Control System
• Operating System
• Elements Of System
• Reference Model
• System Modulation
• Hardware Platform
• Interoperability
• Human-computer Interaction
• Middle Layer
• Robotic System
• Application Programming Interface
• Control Objective
• Communication Protocol
• Base Layer
• Software Module
• Kinds Of Functions
• Application Layer
• Hardware Devices
• Error Handling
• Open Architecture
• Real time systems
• Robot programming
• Robotics