Optimization And Application Of Robot Software Framework Based On Linux

Robotics applications have rapidly expanded from the traditional industrial fields to education,entertainment,and medical services.In addition to providing the functions of traditional real-time software,robotics software also needs to support many common software features.At the same time,due to the differences in the hardware structure and software environment of the robot,the reuse and deployment of the robot software becomes difficult.These difficulties in robotics software limit the application of robots.To solve the above problems,based on BAOS(roBot Advanced Operating System)independently developed by South China University of Technology,this paper studies the software framework that is suitable for the current development needs of robots.The main work of this article includes the following aspects:First,this paper proposes a two-layer component model,according to the characteristics of the robot's real-time tasks and common tasks,the robot software is divided into two levels.Aiming at the characteristics of fast real-time task response and streamlined code,a behavior model based on reaction paradigm was introduced to describe real-time tasks.According to the rich and varied characteristics of common task codes,a software container model based on resource isolation and statistics was introduced to describe it.At the same time,it also introduced the communication mode between two levels of tasks.Second,research and implementation of the kernel layer real-time component framework.To enable components to have the highest real-time capability as possible,the Linux loadable kernel module was selected to implement the real-time component,and the software behavior was realized through the component internal functions,and the real-time task operation was driven through a unified event management mechanism.The kernel high-resolution timer is encapsulated as an event source inside the component framework,providing an efficient time control interface for the robot real-time tasks and periodic tasks.By way of character device,it provides the interface to interact with the kernel layer to the application layer.Third,research and implementation of application layer common component framework.To realize the rapid development of robot software and the rapid integration of existing software,to speed up the deployment of robot software and improve the efficiency of application,the Linux container technology was chosen to design common components,and the common components were implemented based on Docker.At the same time,to enhance the capability of the publish/subscribe communication mechanism,the middleware based on the proxy mechanism is implemented.Fourth,the framework is basically tested,and applied to the industrial robot sorting system,Web-based robot control system,and multi-robot cooperative system.The test and application results show that the proposed framework has real-time and versatility.