机械人开发软件.docx
- 文档编号:27195343
- 上传时间:2023-06-28
- 格式:DOCX
- 页数:11
- 大小:498.88KB
机械人开发软件.docx
《机械人开发软件.docx》由会员分享,可在线阅读,更多相关《机械人开发软件.docx(11页珍藏版)》请在冰豆网上搜索。
机械人开发软件
机械人开发软件
Areviewofroboticssoftwareplatforms
IntroductionThisarticlegivesashortoverviewofgeneral-purposeroboticssoftwareplatformscurrentlyavailableforserviceroboticsapplications.Thearticleisacompilationoftheknowledgetheauthoraccumulatedduringrecentexperimentationwork.Whatisaroboticssoftwareplatform?
Bya"roboticssoftwareplatform"wemeanasoftwarepackagethatsimplifiesprogrammingofseveralkindsofroboticdevicesbyproviding:
aunifiedprogrammingenvironment
aunifiedserviceexecutionenvironment
asetofreusablecomponents
adebugging/simulationenvironment
apackageof"drivers"formostwide-spreadroboticshardware
apackageofcommonfacilitiessuchascomputervision,navigationorroboticarmcontrol
Asyousee,thereareseveralmajorcomponentsinanyroboticssoftwareplatform.Noneoftheexistingproductswasaperfectmatchfrommypointofview.Mostoftheproductsweremissingsomething.
RoboticSoftwarePlatforms
Platform
Type
Platform
Commercial
Platform
CommercialFreeofchargeforresearchandhobby
Machineandrobotcontrollibraries
Opensource&free
Robotlearningadd-on
Commercial
Platform
Commercial
Simulationenvironment
Commercial
Platform
OpenSource&Free
Platform
Commercial
Platform
Opensource
Platform
Opensource
Whyroboticssoftwareplatform?
Thecostofcontrolsoftwareaccountsforalargeshareoftheoverallcostofatypicalroboticsproject.Forexample,upto80percentofanindustrialautomationprojectisspentonsystemintegration,whichincludessoftwaredevelopment/customization.So,themainideabehindanyroboticssoftwareplatformistosimplifythejobofroboticssoftwareengineers--andthusreducetheprojectcost.Besidessoftwareengineeringchallenges,thereisstillmuchAIresearchworklefttobedonewhenitcomestorobotics.Asetofreliableoff-the-shelfsoftwarecomponentsintegratedintoaunifiedplatformcanreallyhelptokickstartanyseriousroboticsproject.Finally,abehaviorcoordinationproblemneedstobeaddressedintheoverallcontrolsystem'sarchitecture.Severalbehaviorcoordinationapproacheshavebeenintheresearchliterature.Becausethisisacommonproblem,someoftheroboticsplatformsprovideaunifiedsolutiontotheproblem.Overviewofmainplayers
SummaryofMainRoboticsSoftwarePlatformPlayers
Evolution
Microsoft
OROCOS
Skilligent
URBI
Webots
Player,Stage,Gazebo
Opensource
No
No
Yes
No
No
No
Yes
Freeofcharge
No
Edu/hby
Yes
No
No
No
Yes
Windows
Yes
Yes
No
Yes
Yes
Yes
Yes(sim)
Linux
Yes
No
Yes
Yes
Yes
Yes
Yes
Distributedenvironment
No
Yes
No
Yes
Yes
No
Yes(limited)
Behaviorcoordination
Yes
Yes
No
Yes
Yes
No
No
Built-inroboticarmcontrol
No
No
Yes
Yes
No
No
No
Built-inobjectrecognition
Yes
No
No
Yes
No
No
No
Built-innavigation
Yes
No
No
Yes
No
No
No
Task/skilllearning
No
No
No
Yes
No
No
No
Simulationenvironment
No
Yes
No
No
Yes(Webots)
Yes
Yes
Rangeofsupportedhardware
Small
Large
Medium
Medium
Large
Large
Medium
Reusableservicebuildingblocks
Yes
Yes
Yes
Notapplcbl
Yes
No
No
Real-time
No
No
Yes
No
No
No
No
EvolutionRobotics'sERSPisbuildingandmarketingasetofroboticssoftwareandhardwarecomponentsincludingaroboticsplatformcalledERSP.Theplatformlookslikeaprettymatureproduct.Itincorporatesarobustvisualobjectrecognitionsystem(ViRP)andavisual-basednavigationandmapping(vSLAM)system.Thecomputervisionsystemisbasedonarobustalgorithminventedby.Theplatformcomeswithagraphicaltoolkitthatcanbeusedforbuildingprogramsbasedofanumberofreusablebuildingblocks.
BehaviorComposerofEvolutionRobotics(Clicktoenlarge)
Thebuildingblockscalledbehaviorsareactivated/deactivatedinruntimebyahigher-levelprogramcalledatask.ERSPdoesn'tprovideasimulationenvironment.ERSPrunsonWindowsandLinux.MicrosoftRoboticsStudioMicrosoftrecentlysetupateamthatdeliveredaroboticssoftwareplatformcalled.TheplatformrunsunderWindowsandWindowsCE.Adistributedruntimeenvironmentdoesmostofthemessagingandthreadmanagementtasks.Behaviorcoordinationisbasedontheconceptofservicearbiters.MSRScomeswithasimulationenvironmentandagraphicalservicedevelopmenttoolkit.
MicrosoftRoboticsStudio--VisualProgrammingLanguage(Clicktoenlarge)
MicrosoftSimulationenvironment(Clicktoenlarge)
AgrowingnumberofroboticscompanieshavefortheMSRSplatform.OROCOSisanopensourcesetoflibrariesforadvancedmotionandrobotcontrol.OROCOScomeswithitsownruntimeenvironmentoptimizedforreal-timeapplications.Theenvironmentmakesuseof,whichmakesitsuitablefortime-deterministicreal-timeapplications.
OROCOS
OROCOScomeswithasetofreusablecomponentsandasetofdriversforselectedroboticshardware.Akinematicsanddynamicslibraryisanapplicationindependentframeworkformodelingandcomputationofkinematicschains,suchasrobots,biomechanicalhumanmodels,computer-animatedfigures,machinetools.OROCOSdoesn'tcomewithaunifiedgraphicaldevelopmentenvironmentorsimulationenvironment.SkilligentConceptually,standsasideinthelistofroboticssoftwareplatforms.Insteadofsimplifyingrobotprogramming,Skilligenteliminatestheneedtoprogramrobotsbyintroducinganimplementationofatrainablecontrolsystem.Skilligent'sisbasedontheconceptof,anewapproachinartificialintelligenceandroboticsthatfocusesontheautonomousrobotlearningofgeneral-purpose,tasknonspecificcontrolsystems.Skilligentallowsconvertingaregularrobotintoasociablerobotthatcanbetrainedbyanenduser(vs.programmedbyasoftwareengineer).Therobotcontrolsoftwareexhibitscertainsupportingsocialinteractioncapabilitiesthatmaketrainingandcollaborationwithrobotsmorenaturalforhumans.Duringasession,sucharobotinteractswithitshumantrainerthroughgestures,sounds,objectmanipulationsandjointattention.
Robotlearningsession--undercontrolofSkilligent
SkilligentBehaviorControlsystem
Thekeytechnologyincorporatedinthesoftwareisasetofalgorithmsthatbuildgeneralizedrepresentationofatask/skilllearntfromademonstration.Thesoftwarecomeswithbuilt-inobjectrecognition,soundrecognitionandvisualnavigationmodulesoptimizedforroboticlearning.Strictlyspeaking,Skilligentisnotaplatform,butratheranadd-ontoaroboticsplatformasitcanbeintegratedwithanyoftheplatformspresentedinthisarticle.URBIURBIisaroboticsplatformbuiltby.Insteadofcreatingagraphicalservicecreationenvironment,URBIintroduceditsownlanguageoptimizedforcreationofparallelanddistributedevent-drivenservices.Foreverynewkindofrobot,Gostaipromisestobuildanenginethatexecutestheprogramswrittenintheproprietarylanguage.GostaiprovidesenginesforavarietyofrobotsincludingAibo,MindstormsandKhepera.URBIisadistributedplatformthatallowsrunningaservicecodeacrossseveralcomputersworkingtogetherinacluster.Gostai'spartnersprovidesuchascomputervisionandspeechrecognition.Theplatformdoesn'thaveitsownsimulationenvironment,butithasbeenrecentlyintegratedwithWebots,apopularcommercialroboticssimulationenvironment.WebotsWebotsisapopularcommercialrobotfastprototypingandsimulationenvironmentmarketedby.Strictlyspeaking,Webotsisnotaroboticssoftwareplatform,butratherasimulationenginewithprototypingcapabilities.Thesimulationenvironmentcomeswithmodelsofmultiplevirtualandcommerciallyavailablerobotsincludingbipeds,wheeledrobotsandroboticarms.
Webotsfastprototypingandsimulationenvironment(Clicktoenlarge)
Player,Stage,GazeboTheisanopensourceTCP/IP-basedhardwareabstractionlayerforagrowingnumberofroboticshardwareplatforms.Theandprovideaccompanyingsimulationenvironments.Theenvironmentssupportmulti-robotsimulationsthataresuitableforresearchinswarm-orteam-workingofrobots.
Player,Stage,Gazebo(Clicktoenlarge)
Runningonarobot,Playerprovidesasimpleinterfacetotherobot'ssensorsandactuatorsovertheIPnetworkforreadingdatafromsensors,writingcommandstoactuators,andconfiguringdevicesonthefly.OtherplatformsThereareseveralotherroboticssoftwareplatformsavailableonthemarket--suchas,,,.Theauthorhasn'thadachancetostudythoseplatformscloser.Hereissomeinformation:
∙iRobotAWAREisaroboticssoftwareplatformannouncedby.ItisassumedthattheplatformisbuiltforarangeofmilitaryrobotsproducedbythecompanyfortheUSmilitary.toRodneyBrooks,thecompanyutilizedsomeoftheavailableopensourcecodetospeedupdevelopmentoftheirownproduct.Fromtheinformationavailable,wecouldn'tderivewhetherornotAWAREusesRodneyBrooks'forbehaviorcoordinationandcontrol.
∙OpenJAUSisanopensourceimplementationofJointArchitectureforUnmannedSystems().VecnacompanytobepromotingOpenJAUSandusingitontheirBEARrobot.
∙CLARAtyisasoftwareplatformbuiltbyNASAandthenreleasedasanopensourceproject.Itisnottotallythough.Thesoftwareseemstoprovideasetofsuchasvisualheadingandposeestimations,andvisualwheelsinkingestimation.
MarkettrendsThesweetestdreamofanyroboticsplatformcompanyistoseetheirproductbeingpre-installedonamass-producedcommercialrobot(justlikeWindowsispre-installedonnewPCs).Thisisstillyettohappen.Inthemeantime,educationandresearchinstitutionsarethemajorcustomersofthevendorsofrobotics
- 配套讲稿:
如PPT文件的首页显示word图标,表示该PPT已包含配套word讲稿。双击word图标可打开word文档。
- 特殊限制:
部分文档作品中含有的国旗、国徽等图片,仅作为作品整体效果示例展示,禁止商用。设计者仅对作品中独创性部分享有著作权。
- 关 键 词:
- 机械人 开发软件