scholarly journals Develop Real-Time Robot Control Architecture Using Robot Operating System and EtherCAT

Actuators ◽  
2021 ◽  
Vol 10 (7) ◽  
pp. 141
Author(s):  
Wei-Li Chuang ◽  
Ming-Ho Yeh ◽  
Yi-Liang Yeh
Keyword(s):  
Operating System ◽  
Real Time ◽  
Robot Control ◽  
Data Transfer ◽  
Control Architecture ◽  
Servo Drive ◽  
Robot Operating System ◽  
Memory Mechanism ◽  
Motion Kernel ◽  
Human Robot Collaboration

This paper presents the potential of combining ROS (Robot Operating System), its state-of-art software, and EtherCAT technologies to design real-time robot control architecture for human–robot collaboration. For this, the advantages of an ROS framework here are it is easy to integrate sensors for recognizing human commands and the well-developed communication protocols for data transfer between nodes. We propose a shared memory mechanism to improve the communication between non-real-time ROS nodes and real-time robot control tasks in motion kernel, which is implemented in the ARM development board with a real-time operating system. The jerk-limited trajectory generation approach is implemented in the motion kernel to obtain a fine interpolation of ROS MoveIt planned robot path to motor. EtherCAT technologies with precise multi-axis synchronization performance are used to exchange real-time I/O data between motion kernel and servo drive system. The experimental results show the proposed architecture using ROS and EtherCAT in hard real-time environment is feasible for robot control application. With the proposed architecture, a user can efficiently send commands to a robot to complete tasks or read information from the robot to make decisions, which is helpful to reach the purpose of human–robot collaboration in the future.

scholarly journals Prioritized Data Transfer for a Bilateral Robot Control via Real-Time Network System

2005 ◽  
Vol 125 (2) ◽  
pp. 199-204 ◽  
Author(s):  
Yutaka Uchimura ◽  
Nobuyuki Yamasaki ◽  
Kouhei Ohnishi
Keyword(s):  
Real Time ◽  
Robot Control ◽  
Data Transfer ◽  
Network System

scholarly journals Design and implementation of real-time robot operating system based on freertos

2020 ◽  
Vol 1449 ◽  
pp. 012115
Author(s):  
Li Shao ◽  
Chuanxi Wang ◽  
Chong Chu ◽  
Yinan Song ◽  
Haoyu Hu ◽  
...  
Keyword(s):  
Operating System ◽  
Real Time ◽  
Robot Operating System ◽  
Design And Implementation

A ROS-Simulink Real-Time Communication Bridge Using UDP With a Driver-in-the-Loop Application

2016 ◽  
Author(s):  
Mohamed Wahba ◽  
Robert Leary ◽  
Nicolás Ochoa-Lleras ◽  
Jariullah Safi ◽  
Sean Brennan
Keyword(s):  
Operating System ◽  
Real Time ◽  
High Speed ◽  
Performance Metrics ◽  
Proof Of Concept ◽  
Physical Separation ◽  
Robot Operating System ◽  
Time Latency ◽  
And Performance ◽  
Fast Transmission

This paper presents implementation details and performance metrics for software developed to connect the Robot Operating System (ROS) with Simulink Real-Time (SLRT). The communication takes place through the User Datagram Protocol (UDP) which allows for fast transmission of large amounts of data between the two systems. We use SLRT’s built-in UDP communication and binary packing blocks to send and receive the data over a network. We use implementation metrics from several examples to illustrate the effectiveness and drawbacks of this bridge in a real-time environment. The time latency of the bridge is analyzed by performing loop-back tests and obtaining the statistics of the time delay. A proof of concept experiment is presented that utilizes two laboratories that ran a driver-in-the-loop system despite a large physical separation. This work provides recommendations for implementing data integrity measures as well as the potential to use the system with other applications that demand high speed real-time communication.

scholarly journals Survey on Cloud Robotics and Robot Operating System

2021 ◽  
pp. 179-184
Author(s):  
Karan Sanghvi ◽  
Pratik Shah
Keyword(s):  
Operating System ◽  
Cloud Computing ◽  
Software Architecture ◽  
Real Time ◽  
Smart City ◽  
Web Technology ◽  
Robot Operating System ◽  
Research Fields ◽  
Cloud Robotics ◽  
Cloud Technologies

The paper proposes cloud robotics which intends five parts which are for software architecture, trends and challenges, design based on a web technology, cloud computing platforms and cloud robotics in practical smart city applications. Software architecture involves lots of different cloud technologies like cloud storage and shared services for robotics for Robot Operating System. There are lots of trends in cloud robotics as it uses cloud technologies for robotics. The use of the cloud for automation brings some largely ameliorating the performance of robotics. Besides, the trends, there are some challenges in cloud robotics. Robot Operating System has been a standard tool in the design for cloud robotics. It always runs at the on-board computer but some resources of CPU do not allow the ability of robotics. In this problem, a good solution is to transfer the task to the cloud. Hence, the design of a cloud robotics middleware is based on web technology. Robotics with cloud computing gives lots of research scopes and research fields. In Smart City Applications, Real-Time Cloud Robotics is present. Real Time Cloud Robotics has emerged as an efficient computing means in data processing applications. By this we introduce CR20 cloud robotics platform that uses real time stream technology virtually to connect to different devices.

Security for the Networked Robot Operating System for Biomedical Applications

2021 ◽  
Vol 11 (12) ◽  
pp. 2937-2949
Author(s):  
M. Rajakumaran ◽  
S. Ramabalan
Keyword(s):  
Operating System ◽  
Biomedical Applications ◽  
Data Transfer ◽  
Biomedical Application ◽  
Power Input ◽  
Production Method ◽  
Dos Attacks ◽  
Current Time ◽  
Robot Operating System ◽  
Verification Method

Future mechanical frameworks will be arranged in exceptionally organized conditions in which they speak with modern control frameworks, cloud administrations or various other systems at distant areas. In this pattern of solid digitization of modern frameworks (likewise some of the time alluded to as Industry 4.0), digital assaults are an in-wrinkling danger to the uprightness of the automated frameworks at the center of this unique turn of events. It is normal, that the ROS shall assume a significant function in advanced mechanics outside of unadulterated exploration situated situations. ROS anyway has noteworthy security issues which should be tended to before such items should arrive at mass business sectors. Robot Operating System has emerged promptly as an alluring production method at micro and nano scales, particularly in the area of biomedical applications because of its flexibility and condensed size. As disputed to conventional grippers in the field of biomedical applications where mobility is less and show size restriction threats, ROS based micro-grippers are clear from outside power input and yield better mobility. It also has a significant impact on the field of biomedical surgery, where security is a major threat. With the current improvements in wireless communications, Tactile Internet has endorsed a dominant impact. It is regarded as the future huge development which can give current-time regulation in industrial systems, especially in the field of tele surgery. Even though, in remote-surgery environment the data transfer is subjected to various attack points. Hence, in order to understand the real capacity of safe tele-surgery, it is needed to develop a safe verification and key agreement protocol for tele-surgery. We offer here an effective, secure and common verification method in the field of biomedical application in the field of robotic tele-operation. The developed protocol ensures safe interaction samidst the surgeon, robotic arm, and the devoted jurisdiction; The results obtained express the flexibility of the protocol against offline password assuming attacks, replay attacks, imitation attacks, man-in-the-middle attacks, DoS attacks, etc.

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