publication . Article . Other literature type . 2019

RTRobMultiAxisControl: A Framework for Real-Time Multiaxis and Multirobot Control

H. Fischer; M. Vulliez; P. Laguillaumie; P. Vulliez; J. P. Gazeau;
Open Access English
  • Published: 01 Jul 2019
  • Publisher: HAL CCSD
Abstract
International audience; This paper presents the challenges met in the development of a new framework for multi-axis and multi-robot control. The increasing demand for multi-robot collaboration and robotic assistance, both in industry and service applications, has raised the level of interactions between robots and humans in a shared environment with real-time constraints. Some scientific and technological issues need to be unlocked to ensure safe human-robot interactions: to guarantee the response time during the robot perception-action process, to cope with dynamic interactions with the robot environment, to secure the collaborations between several machines an...
Subjects
free text keywords: Middleware, Framework, Open Robotics, Multi-axis Control, Multi-robot Control, Collaborative Robotics, Industrial Ethernet, Real-time, [SPI.AUTO]Engineering Sciences [physics]/Automatic, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], Service robots, Robot kinematics, Real-time systems, Collaboration, [PHYS.MECA.MEFL]Physics [physics]/Mechanics [physics]/Mechanics of the fluids [physics.class-ph], [PHYS.MECA.MSMECA]Physics [physics]/Mechanics [physics]/Materials and structures in mechanics [physics.class-ph], [SPI.ACOU]Engineering Sciences [physics]/Acoustics [physics.class-ph], [SPI.ELEC]Engineering Sciences [physics]/Electromagnetism, [SPI.FLUID]Engineering Sciences [physics]/Reactive fluid environment, [SPI.NRJ]Engineering Sciences [physics]/Electric power, [PHYS.MECA.THER]Physics [physics]/Mechanics [physics]/Thermics [physics.class-ph], [PHYS.MECA.VIBR]Physics [physics]/Mechanics [physics]/Vibrations [physics.class-ph], [PHYS.MPHY]Physics [physics]/Mathematical Physics [math-ph], [PHYS.QPHY]Physics [physics]/Quantum Physics [quant-ph], [PHYS.MECA.ACOU]Physics [physics]/Mechanics [physics]/Acoustics [physics.class-ph], [PHYS.MECA.BIOM]Physics [physics]/Mechanics [physics]/Biomechanics [physics.med-ph], [CHIM.MATE]Chemical Sciences/Material chemistry, [CHIM.POLY]Chemical Sciences/Polymers, Control and Systems Engineering, Electrical and Electronic Engineering
Related Organizations
30 references, page 1 of 2

[1] Erik Nieves, “Overview of Collaborative Robots”, RIA, International collaborative robots workshop, October 2016, ] Cincinnati, USA.

[2] Ayssam Elkady and Tarek Sobh, “Robotics Middleware: A Comprehensive Literature Survey and Attribute-Based Bibliography” May 2012, Journal of Robotics 2012, pp.1687-9600. [OpenAIRE]

[3] D. Bakken, “Middleware,” in Encyclopedia of Distributed Computing, J. Urban and P. Dasgupta, Eds., Kluwer Academic, Dodrecht, The Netherlands, 2001.

[4] H. Utz, S. Sablatnog, S. Enderle, and G. Kraetzschmar, “Miromiddleware for mobile robot applications,” IEEE Transactions on Robotics and Automation, vol. 18, no. 4, pp. 493-497, 2002. [OpenAIRE]

[5] J. Kramer and M. Scheutz, “Development environments for autonomous mobile robots: a survey,” Autonomous Robots, vol. 22, no. 2, pp. 101- 132, 2007.

[6] N. Mohamed, J. Al-Jaroodi, and I. Jawhar, “Middleware for robotics: a survey,” in Proceedings of the IEEE International Conference on Robotics, Automation and Mechatronics (RAM '08), pp. 736-742, September 2008.

[7] N. Mohamed, J. Al-Jaroodi, and I. Jawhar, “A review of middleware for networked robots,” International Journal of Computer Science and Network Security, vol. 9, no. 5, pp. 139-148, 2009.

[8] B. P. Gerkey, R. T. Vaughan, and A. Howard, “The player/stage project: Tools for multi-robot and distributed sensor systems,” in In Proceedings of the 11th International Conference on Advanced Robotics, 2003, pp. 317-323. 1

[9] Kranz, M., Rusu, R. B., Maldonado, A., Beetz, M., & Schmidt, A. (2006). A player/stage system for context-aware intelligent environments. Proceedings of UbiSys, 6(8), 17-21.

[10] Ersp 3.1 software development kit, 2010, http://www.evolution.com/products/ersp/.

[11] Soetens, P., & Bruyninckx, H. (2005, April). Realtime hybrid task-based control for robots and machine tools. In Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on (pp. 259-264).

[12] Object Management Group (1998). The Common Object Request Broker: Architecture and Specification Revision 2.2. 492 Old Connecticut Path, Framingham, MA 01701, USA.

[13] Ando, N., Suehiro, T., Kitagaki, K., Kotoku, T., & Yoon, W. K. (2005, August). RT-middleware: distributed component middleware for RT (robot technology). In Intelligent Robots and Systems, 2005.(IROS 2005). 2005 IEEE/RSJ International Conference on (pp. 3933-3938). IEEE. [OpenAIRE]

[14] M. Quigley, B. Gerkey, K. Conley, J. Faust, T. Foote, J. Leibs, E. Berger, R. Wheeler, and A. Ng, “ROS: an open-source robot operating system,” in Proc. of the IEEE Intl. Conf. on Robotics and Automation (ICRA) Workshop on Open Source Robotics, Kobe, Japan, May 2009.

[15] https://github.com/bmwcarit/meta-ros

30 references, page 1 of 2
Abstract
International audience; This paper presents the challenges met in the development of a new framework for multi-axis and multi-robot control. The increasing demand for multi-robot collaboration and robotic assistance, both in industry and service applications, has raised the level of interactions between robots and humans in a shared environment with real-time constraints. Some scientific and technological issues need to be unlocked to ensure safe human-robot interactions: to guarantee the response time during the robot perception-action process, to cope with dynamic interactions with the robot environment, to secure the collaborations between several machines an...
Subjects
free text keywords: Middleware, Framework, Open Robotics, Multi-axis Control, Multi-robot Control, Collaborative Robotics, Industrial Ethernet, Real-time, [SPI.AUTO]Engineering Sciences [physics]/Automatic, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], Service robots, Robot kinematics, Real-time systems, Collaboration, [PHYS.MECA.MEFL]Physics [physics]/Mechanics [physics]/Mechanics of the fluids [physics.class-ph], [PHYS.MECA.MSMECA]Physics [physics]/Mechanics [physics]/Materials and structures in mechanics [physics.class-ph], [SPI.ACOU]Engineering Sciences [physics]/Acoustics [physics.class-ph], [SPI.ELEC]Engineering Sciences [physics]/Electromagnetism, [SPI.FLUID]Engineering Sciences [physics]/Reactive fluid environment, [SPI.NRJ]Engineering Sciences [physics]/Electric power, [PHYS.MECA.THER]Physics [physics]/Mechanics [physics]/Thermics [physics.class-ph], [PHYS.MECA.VIBR]Physics [physics]/Mechanics [physics]/Vibrations [physics.class-ph], [PHYS.MPHY]Physics [physics]/Mathematical Physics [math-ph], [PHYS.QPHY]Physics [physics]/Quantum Physics [quant-ph], [PHYS.MECA.ACOU]Physics [physics]/Mechanics [physics]/Acoustics [physics.class-ph], [PHYS.MECA.BIOM]Physics [physics]/Mechanics [physics]/Biomechanics [physics.med-ph], [CHIM.MATE]Chemical Sciences/Material chemistry, [CHIM.POLY]Chemical Sciences/Polymers, Control and Systems Engineering, Electrical and Electronic Engineering
Related Organizations
30 references, page 1 of 2

[1] Erik Nieves, “Overview of Collaborative Robots”, RIA, International collaborative robots workshop, October 2016, ] Cincinnati, USA.

[2] Ayssam Elkady and Tarek Sobh, “Robotics Middleware: A Comprehensive Literature Survey and Attribute-Based Bibliography” May 2012, Journal of Robotics 2012, pp.1687-9600. [OpenAIRE]

[3] D. Bakken, “Middleware,” in Encyclopedia of Distributed Computing, J. Urban and P. Dasgupta, Eds., Kluwer Academic, Dodrecht, The Netherlands, 2001.

[4] H. Utz, S. Sablatnog, S. Enderle, and G. Kraetzschmar, “Miromiddleware for mobile robot applications,” IEEE Transactions on Robotics and Automation, vol. 18, no. 4, pp. 493-497, 2002. [OpenAIRE]

[5] J. Kramer and M. Scheutz, “Development environments for autonomous mobile robots: a survey,” Autonomous Robots, vol. 22, no. 2, pp. 101- 132, 2007.

[6] N. Mohamed, J. Al-Jaroodi, and I. Jawhar, “Middleware for robotics: a survey,” in Proceedings of the IEEE International Conference on Robotics, Automation and Mechatronics (RAM '08), pp. 736-742, September 2008.

[7] N. Mohamed, J. Al-Jaroodi, and I. Jawhar, “A review of middleware for networked robots,” International Journal of Computer Science and Network Security, vol. 9, no. 5, pp. 139-148, 2009.

[8] B. P. Gerkey, R. T. Vaughan, and A. Howard, “The player/stage project: Tools for multi-robot and distributed sensor systems,” in In Proceedings of the 11th International Conference on Advanced Robotics, 2003, pp. 317-323. 1

[9] Kranz, M., Rusu, R. B., Maldonado, A., Beetz, M., & Schmidt, A. (2006). A player/stage system for context-aware intelligent environments. Proceedings of UbiSys, 6(8), 17-21.

[10] Ersp 3.1 software development kit, 2010, http://www.evolution.com/products/ersp/.

[11] Soetens, P., & Bruyninckx, H. (2005, April). Realtime hybrid task-based control for robots and machine tools. In Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on (pp. 259-264).

[12] Object Management Group (1998). The Common Object Request Broker: Architecture and Specification Revision 2.2. 492 Old Connecticut Path, Framingham, MA 01701, USA.

[13] Ando, N., Suehiro, T., Kitagaki, K., Kotoku, T., & Yoon, W. K. (2005, August). RT-middleware: distributed component middleware for RT (robot technology). In Intelligent Robots and Systems, 2005.(IROS 2005). 2005 IEEE/RSJ International Conference on (pp. 3933-3938). IEEE. [OpenAIRE]

[14] M. Quigley, B. Gerkey, K. Conley, J. Faust, T. Foote, J. Leibs, E. Berger, R. Wheeler, and A. Ng, “ROS: an open-source robot operating system,” in Proc. of the IEEE Intl. Conf. on Robotics and Automation (ICRA) Workshop on Open Source Robotics, Kobe, Japan, May 2009.

[15] https://github.com/bmwcarit/meta-ros

30 references, page 1 of 2
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