From Robot Commands to Real-time Robot Control - Transforming High-level Robot Commands into Real-time Dataflow Graphs

Andreas Schierl, Andreas Angerer, Alwin Hoffmann, Michael Vistein, Wolfgang Reif

2012

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.

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Paper Citation


in Harvard Style

Schierl A., Angerer A., Hoffmann A., Vistein M. and Reif W. (2012). From Robot Commands to Real-time Robot Control - Transforming High-level Robot Commands into Real-time Dataflow Graphs . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-22-8, pages 150-158. DOI: 10.5220/0004046301500158

in Bibtex Style

@conference{icinco12,
author={Andreas Schierl and Andreas Angerer and Alwin Hoffmann and Michael Vistein and Wolfgang Reif},
title={From Robot Commands to Real-time Robot Control - Transforming High-level Robot Commands into Real-time Dataflow Graphs},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2012},
pages={150-158},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004046301500158},
isbn={978-989-8565-22-8},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - From Robot Commands to Real-time Robot Control - Transforming High-level Robot Commands into Real-time Dataflow Graphs
SN - 978-989-8565-22-8
AU - Schierl A.
AU - Angerer A.
AU - Hoffmann A.
AU - Vistein M.
AU - Reif W.
PY - 2012
SP - 150
EP - 158
DO - 10.5220/0004046301500158