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  4. Distributed real-time control service framework for human-robot interaction applications
 
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2016
Conference Paper
Title

Distributed real-time control service framework for human-robot interaction applications

Abstract
The fourth industrial revolution has called forth a transformation of how factories and their internal and external components and processes should integrate with each other. The need for fully connected cyber-physical systems is imperative to this vision. In the context of human-robot interaction this creates new exciting possibilities, but also creates challenges at the same time. The real-time requirements of robot control systems, to allow for safe and effective manipulation, have to be given serious consideration. This work develops a concept for a network service framework, which creates a distributed communication graph between systems. Using pre-existing tightly nit components in robot control and human-robot interaction application architecture, a modularized approach is developed, where in components are split up into self-contained units, if possible. The framework was developed in C++ using ZeroMQ, for message passing, and Protocol Buffers for data serialization and deserialization, and, in particular, shows promising behaviour concerning real-time performance.
Author(s)
Niebuhr, C.A.
Vick, A.
Mainwork
21th IEEE Conference on Emerging Technologies and Factory Automation, ETFA 2016  
Conference
International Conference on Emerging Technologies and Factory Automation (ETFA) 2016  
DOI
10.1109/ETFA.2016.7733514
Language
English
Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK  
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