MODERN APPS AND PLATFORMS FOR THE ROBOTS

Nowadays, the number of robots that co-operate with the humans, machines and with each other in various fields of manufacturing and economics, everyday life, entertainment industry, social pedagogy is growing rapidly.Server-free mobile additions are widely used in robotics: applications that are built directly into the actuators and mechanisms; Cloud-oriented applications and others.As a result of the shifted emphasis on performance, energy and algorithms efficiency of addition and platforms for robotics in the future will develop with optimization of the following algorithms: unlimited movements of the robot and its orientation in 3D space; Detection of collisions of robot body (autonomous relative location) with prevention of dead end situation; Routing of autonomous ride and flight for unmanned devices, auto and drone in.ROS (Robot Operating System) for personal robots - known robotics platform today popular in industry and academic institutions. ROS includes the following architectural components: Package Management components; Abstract layer for hardware and hardware (Hardware Abstraction Layer) and device drivers; components with communication and messaging functions between Middleware programs or parts and Websites.Swarm works can be programmed to simulate 2d-forms, which are inherent in flocks of insects, fish, and birds. Researchers have managed to provide Swarm with their own coordination, which forms a significant step in the development of collective artificial intelligence Hundreds of robots cooperate in the field of cleaning the environment from the consequences of natural disaster, others model social processes.The paper is dedicated to the important scientific-practical problem of the use of modern mobile serverless apps, which are capable to autonomous operation, and robotics supporting platforms, in particular, to their classification and standardization. The scenarios for the use of robots that focus not only on manufacturing and modeling processes in the industry but also for behavioral modeling, amomg them on the use of robots in pedagogy and sociology, are considered.

MULTI-CHANNEL CONTROL SYSTEM FOR IN-SITU LABORATORY LOADING DEVICES

In recent years, open-source applications have replaced proprietary software in many fields. Especially open-source software tools based on Linux operating system have wide range of utilization. In terms of CNC solutions, an open-source system LinuxCNC can be used. However, the LinuxCNC control software and the graphical user interface (GUI) could be developed only on top of Hardware Abstraction Layer. Nevertheless, the LinuxCNC community provided Python Interface, which allows for controlling CNC machine using Python programming language, therefore whole control software can be developed in Python. The paper focuses on a development of a multi-process control software mainly for in-house developed loading devices operated at our institute. The software tool is based on the LinuxCNC Python Interface and Qt framework, which gives the software an ability to be modular and effectively adapted for various devices.

A mixed real-time robot hardware abstraction layer (R-HAL)

The rapid advances in robotics have recently led to the developments of a wide range of robotic platforms that exhibit significant differences at the hardware components level. Consequently, this poses a significant challenge to robot software developers since they have to know how every hardware device in the robot works to ensure their software’s compatibility when transferring/reusing their code on different robots. In this paper we present a new Robot Hardware Abstraction Layer (R-HAL) that permits to seamlessly program and control any robotic platform powered by the XBot control software framework. The implementation details of the R-HAL are introduced. The R-HAL is extensively validated through simulation trials and experiments with a wide range of dissimilar robotic platforms, among them the COMAN and WALK-MAN humanoids, the KUKA LWR and the CENTAURO upper body. The results attained demonstrate in practice the gained benefits in terms of code compatibility, reuse and portability, and finally unified application programming even for robots with significantly diverse hardware.