DIMSART: A REAL TIME - DEVICE INDEPENDENT MODULAR SOFTWARE ARCHITECTURE FOR ROBOTIC AND TELEROBOTIC APPLICATIONS

Jordi Artigas, Detlef Reintsema, Carsten Preusche, Gerhard Hirzinger

2004

Abstract

In this paper a software architecture for robotic and telerobotic applications will be described. The software is device and platform independent, and is distributed control orientated. Thus, the package is suitable for any real time system conguration. The architecture allows designers to easily build complex control schemes for any hardware device, easily control and manage them, and communicate with other devices with a plugin/plug-out modular concept. The need to create a platform where control engineers/designers could freely implement their algorithms, without needing to worry about the device driver and programming related issues, further motivated this project. Implementing a new control algorithm with the software architecture described here, requires that the designer simply follow a template where the necessary code is reduced to only those functions having to do with the controller. We conducted several teleoperation schemes, one of which will be presented here as a conguration example.

Paper Citation

in Harvard Style

Artigas J., Reintsema D., Preusche C. and Hirzinger G. (2004). DIMSART: A REAL TIME - DEVICE INDEPENDENT MODULAR SOFTWARE ARCHITECTURE FOR ROBOTIC AND TELEROBOTIC APPLICATIONS . In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-12-0, pages 102-109. DOI: 10.5220/0001147301020109

in Bibtex Style

@conference{icinco04,
author={Jordi Artigas and Detlef Reintsema and Carsten Preusche and Gerhard Hirzinger},
title={DIMSART: A REAL TIME - DEVICE INDEPENDENT MODULAR SOFTWARE ARCHITECTURE FOR ROBOTIC AND TELEROBOTIC APPLICATIONS},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2004},
pages={102-109},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001147301020109},
isbn={972-8865-12-0},
}

in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - DIMSART: A REAL TIME - DEVICE INDEPENDENT MODULAR SOFTWARE ARCHITECTURE FOR ROBOTIC AND TELEROBOTIC APPLICATIONS
SN - 972-8865-12-0
AU - Artigas J.
AU - Reintsema D.
AU - Preusche C.
AU - Hirzinger G.
PY - 2004
SP - 102
EP - 109
DO - 10.5220/0001147301020109