The Research For The Linux-based Robotic Operating System’s Interfaces And The Technology Of Transfer And Compatibility

With the rapid development of embedded technology, sensor technology and industrial design technology, more and more smart products appear in our lives, which include service robots. Service robots are widely used in anywhere, such as medical, maintenance, rescue, home and education. In recent years, a kind of service robots, education and entertainment robots are developed rapidly. Currently, because there is a varity of this kind of service robots, and the interfaces and system platform of these robots are not unified, also some robotic sysytem platforms are used for commercial, all of these bring great inconvenience for robotics researchers. So we need an open source robotic system platform which supports most of robots.Player is an open source Linux-based robotic system platform, which implements the underlying robot hardware abstraction and provides appropriate interfaces, so we take it as a Linux-based robot operating system. Player uses message-based client-server model for its design. Currently, Player can support more than 40 manufacturers’ robots and sensor devices, and some robotics algorithms. The Beijing UP-TECH company launched an educational and entertainment robot — InnoSTAR. We hope Player can also support InnoSTAR robot. But there are not InnoSTAR’s drivers and related devices’ proxies on Player, and the methods of InnoSTAR’s devices’ controls can not run on Player directly. So in order to implement the transfer and compatibility between Player and InnoSTAR, we should develop the InnoSTAR’s drivers and the related devices’ proxies on Player to support InnoSATR robot based on the methods of InnoSTAR’s devices’ controls. And that is this thesis’ s work.In this thesis, we will analyze the Player’s design and implementation, the InnoSTAR’s devices communication protocol and methods of their controls.Then based on the Player, we will design and implement an InnoSTAR-based open soure system platform. This platform will implement the InnoSTAR’s drviers include diodriver, aiodriver, servodriver and ultrasonicdriver; as well as the related devices’ proxies include DIOProxy, AIOProxy, ServoProxy and UltrasonicProxy. These devices’ proxies provide interfaces which have the same features of InnoSTAR’s device control methods. The InnoSTAR’s users can use this thesis’ s open source system platform to design InnoSTAR-based robotic control programs easily, without the need to master the embedded software development. And then remotely control the InnoSTAR robot.