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首页> 外文期刊>Journal of Intelligent & Robotic Systems: Theory & Application >HumanPT: An Open-source, HumanPT Architecture-based, Robotic Application for Low Cost Robotic Tasks
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HumanPT: An Open-source, HumanPT Architecture-based, Robotic Application for Low Cost Robotic Tasks

机译：HumanPT：用于低成本机器人任务的基于HumanPT架构的开源机器人应用程序

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摘要

In this paper, first HumanPT architecture for low cost robotic applications is presented. HumanPT architecture differs than other architectures because it is implemented on existing robotic systems (robot robotic controller) and exploits the minimum communication facilities for real-time control that these systems provide. It is based on well-known communication methods like serial communication (USB, RS232, IEEE-1394) and windows sockets (server-client model) and permits an important number of different type of components like actuators, sensors and particularly vision systems to be connected in a robotic system. The operating system (OS) used is Microsoft Windows, the most widely spread OS. The proposed architecture exploits features of this OS that is not a realtime one, to ensure - in case that the robotic system provide such a facility - control and real time communication with the robotic system controller and to integrate by means of sensors and actuators an important number of robotic tasks and procedures. As implementation of this architecture, HumanPT robotic application and experimental results concerning its performance and its implementation in real tasks are provided. HumanPT robotic application, developed in Visual C++, is an integrated, but simultaneously an open-source software that can be adapted in different types of robotic systems. An important number of robotic tasks or procedures including sensors and particularly vision systems can be generated and executed. Small enterprises by means of the proposed architecture and the open source software can be automated at low cost enhancing in this way their production.
机译：在本文中，提出了用于低成本机器人应用的第一个HumanPT体系结构。 HumanPT体系结构与其他体系结构不同，因为它是在现有的机器人系统（机器人机器人控制器）上实现的，并利用这些系统提供的最少通信功能进行实时控制。它基于众所周知的通信方法，例如串行通信（USB，RS232，IEEE-1394）和Windows套接字（服务器-客户端模型），并且允许使用大量不同类型的组件，例如致动器，传感器，特别是视觉系统。连接在机器人系统中。使用的操作系统是Microsoft Windows，这是分布最广泛的操作系统。所提出的体系结构利用了该OS的非实时功能，以确保在机器人系统提供这种功能的情况下与机器人系统控制器进行控制和实时通信，并通过传感器和执行器集成重要的操作系统。机器人任务和程序的数量。作为此体系结构的实现，提供了HumanPT机器人应用程序以及有关其性能及其在实际任务中的实现的实验结果。用Visual C ++开发的HumanPT机器人应用程序是一个集成的开源软件，但它同时适用于不同类型的机器人系统。可以生成并执行大量的机器人任务或程序，包括传感器，尤其是视觉系统。小型企业可以通过提出的体系结构和开源软件以低成本提高其生产的自动化程度。

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