Practical applications of the R2P embedded framework for robot rapid development
Practical applications of the R2P embedded framework for robot rapid development
复制标题
R2P嵌入式机器人快速开发框架的实际应用
DOI：
10.1109/tepra.2015.7219689
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发表时间：
2015
期刊：
影响因子：
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通讯作者：
Andrea Bonarini
中科院分区：
文献类型：
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作者：
M. Matteucci;M. Migliavacca;Andrea Bonarini
快速机器人原型(R2P)是一个开源的硬件/软件框架，为机器人应用的快速开发提供了组件。R2P框架组件的重用和集成通过嵌入式实时发布/订阅中间件实现，该中间件允许以灵活的方式建立分布式控制循环。R2P旨在提高硬件和软件的重用性，同时减少集成时间。文中详细介绍了R2P框架的体系结构设计，并给出了一个用R2P开发的机器人平台的实例。我们还简要讨论了该方法的灵活性及其组件的易重用性。
Rapid Robot Prototyping (R2P) is an open source HW/SW framework providing components for the rapid development of robotic applications. R2P framework components reuse and easy integration is obtained through an embedded real-time publish/subscribe middleware which allows distributed control loops to be set up in a flexible way. R2P aims at increasing hardware and software reuse while reducing integration time. In this paper we present the R2P framework detailing its architectural design and an example of robot platform developed with R2P. We also briefly discuss the flexibility of the approach and the easiness of reuse of its components.