1A1-H14 作業移動ロボットの再利用性を考慮に入れたコンポーネント構造の検討(次世代ロボット知能化技術開発プロジェクト)

概要

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Recently, in order to develop reusable software, robot system developer build module based software on middleware platform. However each module build for each system, it is difficult to apply modules of other system to another system. Therefore we should consider the module design, when module based system are developed. In this paper, we introduce module design to build module based system. This design is based on Task-Skill-Servo model. The component of system classified into eight, these are Scenario, Task, Skill, Hardware Controller, RIMS (Robot Information Management Server), Data Analyzer and Sensor Controller. RIMS manage object position, robot status and global map. In order to plan to act, RIMS provide information of other part. And then, we actually implement one example system in RT middleware, which mobile robot do manipulation task using vision.
一般社団法人日本機械学会の論文
2011-05-26