When hard realtime matters:: Software for complex mechatronic systems

被引：17

作者：

Baeuml, Berthold ^{[1
]}

Hirzinger, Gerd ^{[1
]}

机构：

[1] German Aerosp Ctr, DLR, Inst Robot & Mechatron, D-82234 Wessling, Germany

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2008年 / 56卷 / 01期

关键词：

software concept; hard realtime; mechatronic system; distributed computing; component-based software engineering;

D O I：

10.1016/j.robot.2007.09.017

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A still growing number of software concepts and frameworks have been proposed to meet the challenges in the development of more and more complex robotic systems, like humanoids or networked robotics. The issue of hard realtime, however, has not been the main focus of such concepts, but is essential for building and controlling mechatronic systems. Here we discuss the specific demands of complex mechatronic systems and present a software concept, the "agile Robot Development" (aRD) concept, which we developed at our institute to pragmatically address these demands. We show that the performance of current computing and communication hardware allows for a flexible component-based concept with distributed execution, even in hard realtime with rates in the kHz range. (c) 2007 Elsevier B.V. All rights reserved.

引用

页码：5 / 13

页数：9