HighRobot:一个高性能的通用机器人控制并行工作站

Proceedings International Conference and Workshop on Engineering of Computer-Based Systems Pub Date : 1997-03-24 DOI:10.1109/ECBS.1997.581927

W. Küchlin, G. Gruhler, T. Lumpp, A. Speck

{"title":"HighRobot:一个高性能的通用机器人控制并行工作站","authors":"W. Küchlin, G. Gruhler, T. Lumpp, A. Speck","doi":"10.1109/ECBS.1997.581927","DOIUrl":null,"url":null,"abstract":"This paper introduces a new type of parallel robot control based on standard hardware and software. HighRobot is a universal control for robot arms as well as peripheral devices. The control hardware is a multiprocessor SPARCstation running Solaris 2.x with soft real-time features compliant to POSIX.4. The software of the HighRobot control has an object-oriented design. Both hardware and software are structured in layers. The device control tasks are running in parallel on the workstation. The robot drives and peripheral devices are connected to HighRobot by the field-bus CAN.","PeriodicalId":240356,"journal":{"name":"Proceedings International Conference and Workshop on Engineering of Computer-Based Systems","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1997-03-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"13","resultStr":"{\"title\":\"HighRobot: a high-performance universal robot control on parallel workstations\",\"authors\":\"W. Küchlin, G. Gruhler, T. Lumpp, A. Speck\",\"doi\":\"10.1109/ECBS.1997.581927\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper introduces a new type of parallel robot control based on standard hardware and software. HighRobot is a universal control for robot arms as well as peripheral devices. The control hardware is a multiprocessor SPARCstation running Solaris 2.x with soft real-time features compliant to POSIX.4. The software of the HighRobot control has an object-oriented design. Both hardware and software are structured in layers. The device control tasks are running in parallel on the workstation. The robot drives and peripheral devices are connected to HighRobot by the field-bus CAN.\",\"PeriodicalId\":240356,\"journal\":{\"name\":\"Proceedings International Conference and Workshop on Engineering of Computer-Based Systems\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1997-03-24\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"13\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings International Conference and Workshop on Engineering of Computer-Based Systems\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ECBS.1997.581927\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings International Conference and Workshop on Engineering of Computer-Based Systems","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ECBS.1997.581927","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 13

摘要

本文介绍了一种基于标准软硬件的新型并联机器人控制方法。HighRobot是一个通用的控制机器人手臂和外围设备。控制硬件是一个运行Solaris 2的多处理器SPARCstation。具有符合POSIX.4的软实时特性。HighRobot控制软件采用面向对象的设计。硬件和软件都是分层结构的。设备控制任务在工作站上并行运行。机器人驱动器和外围设备通过现场总线CAN连接到HighRobot。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

HighRobot: a high-performance universal robot control on parallel workstations

This paper introduces a new type of parallel robot control based on standard hardware and software. HighRobot is a universal control for robot arms as well as peripheral devices. The control hardware is a multiprocessor SPARCstation running Solaris 2.x with soft real-time features compliant to POSIX.4. The software of the HighRobot control has an object-oriented design. Both hardware and software are structured in layers. The device control tasks are running in parallel on the workstation. The robot drives and peripheral devices are connected to HighRobot by the field-bus CAN.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Proceedings International Conference and Workshop on Engineering of Computer-Based Systems

自引率

0.00%

发文量