面向敏捷制造的基于数据分布服务编排的新型开放高效机器人开发框架

IF 11.4 1区计算机科学 Q1 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS

Robotics and Computer-integrated Manufacturing Pub Date : 2025-05-29 DOI:10.1016/j.rcim.2025.103067

Le Qi , Xiaogang Zhang , Haoran Tan , Hua Chen , Yaonan Wang

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引用次数: 0

摘要

为了解决面向敏捷制造的异构机器人系统在开放性和开发效率方面的挑战，本文提出了一种利用数据分布服务（DDS）编排的新型开发框架。该框架旨在增强系统开放性，简化开发，并确保对制造敏捷性至关重要的高性能通信。首先，本文提出了一个编排驱动的、面向服务的体系结构，它为高效的开发和集成奠定了坚实的基础。为了进一步提高开发的直观和高效，提出了一种基于数据流和工作流范式的可视化建模描述方法，为DDS业务的在线编排提供了便利。此外，还开发了一种用于动态代理服务构造的模型驱动的、基于契约的方法，允许DDS服务作为标准化的Web服务公开，这大大提高了更广泛的制造网络中的系统开放性。最后，提出了一种基于Apache Camel的业务流程执行引擎的设计方法，以支持DDS业务流程和代理任务的动态执行。与机器人操作系统2 （ROS2）的对比实验验证了所提出的框架在开放性、开发灵活性和效率方面的显著优势，证明了其适合敏捷制造场景。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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A novel open and efficient robot development framework based on data distribution service orchestration for agile manufacturing

To address the challenges of openness and development efficiency in heterogeneous robotic systems for agile manufacturing, this paper proposes a novel development framework leveraging Data Distribution Service (DDS) orchestration. This framework is designed to enhance system openness, streamline development, and ensure high-performance communication critical for manufacturing agility. Firstly, the paper proposes an orchestration-driven, service-oriented architecture with a robust foundation for efficient development and integration. To further enable intuitive and efficient development, a visual modeling description method based on data flow and workflow paradigms is proposed, facilitating the online orchestration of DDS services. Additionally, a model-driven, contract-based approach for dynamic proxy service construction has been developed, allowing DDS services to be exposed as standardized Web Services, which significantly improves system openness within broader manufacturing networks. Finally, a design method for the orchestration execution engine based on Apache Camel is proposed to support the dynamic execution of DDS orchestration and proxy tasks. Comparative experiments with Robot Operating System 2 (ROS2) validate the proposed framework’s significant advantages in terms of openness, development flexibility, and efficiency, demonstrating its suitability for agile manufacturing scenarios.

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来源期刊

Robotics and Computer-integrated Manufacturing 工程技术-工程：制造

CiteScore

24.10

自引率

13.50%

发文量

160

审稿时长

50 days

期刊介绍： The journal, Robotics and Computer-Integrated Manufacturing, focuses on sharing research applications that contribute to the development of new or enhanced robotics, manufacturing technologies, and innovative manufacturing strategies that are relevant to industry. Papers that combine theory and experimental validation are preferred, while review papers on current robotics and manufacturing issues are also considered. However, papers on traditional machining processes, modeling and simulation, supply chain management, and resource optimization are generally not within the scope of the journal, as there are more appropriate journals for these topics. Similarly, papers that are overly theoretical or mathematical will be directed to other suitable journals. The journal welcomes original papers in areas such as industrial robotics, human-robot collaboration in manufacturing, cloud-based manufacturing, cyber-physical production systems, big data analytics in manufacturing, smart mechatronics, machine learning, adaptive and sustainable manufacturing, and other fields involving unique manufacturing technologies.