<Emphasis Type="Italic">HumanPT</Emphasis>: An Open-source,HumanPT Architecture-based,Robotic Application for Low Cost Robotic Tasks |
| |
Authors: | Theodore Pachidis John Lygouras Kostas Tarchanidis |
| |
Affiliation: | (1) Department of Petroleum and Natural Gas Technology, Control Systems Laboratory, Kavala Institute of Technology, Ag. Loukas, Kavala, Greece;(2) Department of Electrical and Computer Engineering, Democritus University of Thrace, Vas. Sofias 12, 67100 Xanthi, Greece |
| |
Abstract: | In this paper, first HumanPT architecture for low cost robotic applications is presented. HumanPT architecture differs than
other architectures because it is implemented on existing robotic systems (robot robotic controller) and exploits the minimum
communication facilities for real-time control that these systems provide. It is based on well-known communication methods
like serial communication (USB, RS232, IEEE-1394) and windows sockets (server–client model) and permits an important number
of different type of components like actuators, sensors and particularly vision systems to be connected in a robotic system.
The operating system (OS) used is Microsoft Windows, the most widely spread OS. The proposed architecture exploits features
of this OS that is not a real-time one, to ensure – in case that the robotic system provide such a facility – control and
real time communication with the robotic system controller and to integrate by means of sensors and actuators an important
number of robotic tasks and procedures. As implementation of this architecture, HumanPT robotic application and experimental results concerning its performance and its implementation in real tasks are provided.
HumanPT robotic application, developed in Visual C++, is an integrated, but simultaneously an open-source software that can be adapted
in different types of robotic systems. An important number of robotic tasks or procedures including sensors and particularly
vision systems can be generated and executed. Small enterprises by means of the proposed architecture and the open source
software can be automated at low cost enhancing in this way their production. |
| |
Keywords: | HumanPT architecture HumanPT robotic application Robot trajectory generation Robot control Sensors perception System performance |
本文献已被 SpringerLink 等数据库收录! |
|