A Software Framework for Real-Time and Distributed Robot and Machine Control (Een software raamwerk voor ware tijd en gedistribueerde robot en machine controle)
A Software Framework for Real-Time and Distributed Robot and Machine Control (Een software raamwerk voor ware tijd en gedistribueerde robot en machine controle)
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实时分布式机器人和机器控制的软件框架（Een software raamwerk voor ware tijd en gedistribueerde robots en machine controle）
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发表时间：
2006
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通讯作者：
P. Soetens
中科院分区：
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作者：
P. Soetens
实时机器人和机器控制中的软件框架的设计过去集中在机器人技术上，其中运动控制占主导地位，或者集中在自动化机器控制上，其中逻辑控制占主导地位。考虑到前者的设计会导致通信框架，其中组件之间发送数据，控制数据流是中心。考虑到后者的设计会导致框架，这些框架有助于实现控制逻辑执行流的决策。这两种形式的控制都需要机器人或机器控制应用程序运行。这项工作着眼于控制应用程序作为一个整体，并确定数据流和逻辑执行流之间的分离和耦合。单个软件组件模型支持高度反应性的控制任务，例如在织机或自动化机床中，并且在高度数据驱动的应用中同样适用，例如在回路运动控制应用中的视觉或力。理想情况下，用于控制的软件框架必须提供任务间通信原语，这些原语本质上是线程安全和硬实时的。它们可能不会向控制应用程序添加不确定性、可能的死锁或竞争条件。此外，与控制任务的活动的观察和互动必须不干扰其时间决定论。经典的实时操作系统，其中建立了当今的控制应用程序，不提供所有这些保证。这项工作有助于设计模式的同步和异步的任务间通信，维护这些要求使用无锁数据交换。这些模式保证了混合实时（非实时）环境中的“本地化”实时属性，允许远程（非确定性）访问，因此可以分发应用程序的实时组件。通信原语在这项工作中得到了验证，并且在平均和最坏情况下优于传统的基于锁的方法。这项工作也为结构化反馈控制提供了一种设计模式。实现此模式的控制内核可以应用于分布式控制应用程序。例如，它用于同步两个
The design of software frameworks in real-time robot and machine control has focused in the past on robotics, where motion control is dominant, or on automated machine control, where logic control is dominant. Designs with the former in mind lead to communication frameworks where sending data between components, controlling the data flow, is central. Designs with the latter in mind lead to frameworks which aid in realising decision making for controlling the logic execution flow. Both forms of control are required to have robot or machine control applications running. This work looks at the control application as a whole and identifies both separation and coupling between data flow and logic execution flow. A single software component model supports control tasks which are highly reactive, such as in weaving machines or in automated machine tools, and serves equally well in applications which are highly data driven such as in vision or force in the loop motion control applications. Ideally, a software framework for control must offer inter-task communication primitives which are inherently thread-safe and hard real-time. They may not add indeterminism, possible deadlocks or race conditions to the control application. Furthermore, observation of and interaction with the control task’s activity must not disturb its time determinism. Classic real-time operating systems, in which present day control applications are built, do not offer all these guarantees. This work contributes design patterns for synchronous and asynchronous inter-task communication which uphold these requirements using lock-free data exchange. The patterns guarantee ‘localised’ real-time properties in a mixed real-time, not real-time environment, allowing remote (non deterministic) access, hence distribution of the application’s real-time components. The communication primitives are validated in this work and outperform on average and in worst case traditional lock-based approaches. This works contributes a design pattern for structuring feedback control as well. The Control Kernel, which implements this pattern, can be applied on distributed control applications. For example, it is used to synchronise two