Research Of An Open Structure Robot Control System Based On Lightweight Service-oriented Architecture

With the continuous development of science and technology, robotics has continued to emerge. Robots need to complete more complex tasks, and their work environment is also very uncertain. Current commercial robot control systems are basically used the independent structure based on their own development, using special-purpose computers, special machine language, specific operating systems, microprocessor-specific features such as closed, This paper introduces service-oriented architecture (SOA) , because of its advantage such as loosely coupled, reconstruction of flexibility, makes the robot control platform to expand the functions of the robot system, compatible with previously developed components, to improve the use value of robot system.This paper first proposed the whole framework of the control system based on SOA, control system is divided into three layers, the service layer, the bus layer, application layer. This thesis is to design and implementation of the bus floor. Bus layer is the core of the whole control system, the main function are to management the service components in the service layer, service level status monitoring, communications between the service layer and application layer and some exception handling. This paper also proposed a lightweight SOA (LSOA) to meet the high requirements on system resources, and bring weak real-time Windows systems into real-time extension RTX to make control system in the Windows environment with strong real-time.Finally, the system control the labs AS-MRobot which is 6-DOF for interpolation experiment, the starting point for the end user to enter the robot pose, by calling the interpolation, kinematics services, and robot control services path in accordance with the provisions of the robot movement, demonstration robot control system proposed in this paper the effectiveness of the bus floor.