Design And Implementation Of A Reconfigurable Software Platform For Robot Control Based On COM

With the development of sensor technology, intelligent sensors are constantlyintroduced into robotics applications. How to design a software platform to adapt to avariety of robot hardware is becoming an absolutely necessary issues. A software platformof robotic controller is designed for robot with various types of hardware in roboticsteaching.A new robot control software architecture and its parallel model is designed base onthe traditional three-layer robot architecture.The behavior layer of the traditionalarchitecture is divided ito intelligent behavior and the Atomic behavior depending onwhether hardware-related.Then the execution process of the robot control system and theintelligent robot hardware resource allocation strategy is analyzed. The flow of exceptionand event handling as well as the resource allocation and scheduling policies is analyzedand designed. Finally, the main replaceable modules of this software platform are designedand implemented based on the COM technology.Then, an abstract robot module whichprovides a software reconfiguration mechanism for intelligent robots with differentdevices and the robot execution control module are designed.Intelligent robot customization and reconfiguration simulate the robot productionprocess. This robot control software builds the suitable robot software model by using thebuilder pattern and the factory method pattern in detail. The schedule module converts theexternal symbol commands to the internal commands of robots and dispatchs them intothe worker threads which ensure the commands execution successful.The interfaces of robot control system are symbolic, which make the upper intelligentcontrol program can transplant between the isomorphic robots without modified.Reconfigurable robot software model of the robot control software allows the flexibility tofit a variety of different types of robot hardware, which make the customized robotteaching more easily.