The real-time motion control core of the Orocos project

被引：103

作者：

Bruyninckx, H ^{[1
]}

Soetens, P ^{[1
]}

Koninckx, B ^{[1
]}

机构：

[1] Katholieke Univ Leuven, Dept Engn Mech, Louvain, Belgium

来源：

2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS | 2003年

关键词：

D O I：

10.1109/ROBOT.2003.1242011

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper describes the current state, and the ongoing developments, of the hard real-time motion control core, of the OROCOS project (Open Robot Control Software). This core is a component-based, distributed and configurable software framework. The presentation discusses both the design and the current implementation. The design separates the structure of the control system from its functionality. Its hard real-time core provides a generic control structure, with plug-in facilities for customization.

引用

页码：2766 / 2771

页数：6

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