2004 · 198 citations · 5 references
EngineeringComputer ScienceRobotics EngineeringReal-time SystemsRobot ControlRoboticsMotion ControlReal-time ControlReal-time Systems ArchitectureReal-time Systems DesignRobot Control ArchitectureRobot ManipulatorsConfigurable ArchitecturesMotion Control SystemsPlug-in ArchitectureReal-time Motion ControlReal-time Robot ControlReal-time Robot Control ArchitecturesRobot Motion ControlSoftware Architecture For Robotics
This paper describes the current state, and the ongoing developments, of the hard real-time motion control core, of the OROCOS project (Open Robot Control Software). This core is a component-based, distributed and configurable software framework. The presentation discusses both the design and the current implementation. The design separates the structure of the control system from its functionality. Its hard real-time core provides a generic control structure, with plug-in facilities for customization.
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