The Research And Design Of The AS-MRobot's Drive Service Based On The MSRS

With the development of the robot technology, the robot needs to finish complicated and more changeable task in future. The opening, modularization are the trend of the robot. It need more flexible and intelligent design on robot, and the extended and reusable design is one of the most effective method. The REST application model provided by Microsoft Robotics Studio can meet the distributed and concurrent demand. The model of the service is greatly enhanced the robot's scalability and reusability. Therefore, in this paper, I will focus on the driven service of the Microsoft Robotics Studio for AS-MRobot in order to meet control procedures for the specified robot.The service is the basic unit of the MSRS control platform system, the driven service is the foundation to control robot. At service tier, according to the API functions, it's divided into three services with the agent categories:the Wrapper to transfer API functions, the Demo, and the drive services DemoServices. The mechanism of the task handling used on the message queue and thread pool, in driven service, I design two threads to deal with the task circularly, and it greatly shortened the processing time for the task. I analyze the control system Communication Protocol and scalable REST application model and deeply study the CCR and the DSSP in Microsoft Robotics Studio. In order to achieve the maximum size of the reusable in the control platform system, publication/subscription mechanism in the Web Services and adapter design pattern can help us. In this paper, I complete to call the API functions and release it into service; To meet the different needs of the environment, I offers several means of communication between the equipment; I test the control system though the design of the AS-MRobot control model and procedures.