1 research outputs found
The driver concept for the DLR Lightweight Robot III
In this paper we present the synchronization and
driver architecture of the DLR LWR-III, which supplies an easy
to use interface for applications. For our purpose we abstracted
the robot hardware entirely from the control algorithms using
the common device driver concept of modern operating systems.
The software architecture is split into two modular parts. On
the one side, there are device drivers that communicate with the
hardware components. On the other side, there are realtime ap-
plications realized as Simulink Models, which provide advanced
control algorithms. This ensures a clean separation between the
two modules and provides a communication over a common
and approved interface. Furthermore we investigated how we
can ensure synchronization to the hardware over the device
driver interfaces and how we can ensure that it meets hard
realtime requirements. The main result of this paper is to realize
a synchronization between LWR-III hardware and Simulink
control applications while targeting small latencies with respect
to hard realtime requirements. The design is implemented and
verified on WindRiverTM VxWorksTM