Paper Info
Title
A preliminary study of the RADOE project
Abstract
Robotic softwares with convenient operation and programming are desirable to increase the efficiency and efficacy of industrial robots which work in complex and fickle environments. To develop such softwares, we aim to develop a new robotic software called RADOE (Robot Application Development and Operating Environment), under the support from the Science and Engineering Research Council, Singapore. In this paper, we introduce some of our preliminary results of the RADOE project, particularly on the system architecture design. The key objective of our RADOE is to define robotic tasks in a simple way, communicate with different industrial robots and control them under varying environmental conditions. To achieve this, we employ a hierarchical system structure with state machines to make it modular, extendible, robust, and maintainable. Experimental results on KUKA LBR iiwa robot show that RADOE combined with the developed system architecture demonstrates good performance for motion planning and tasks execution.
Year
DOI
Venue
2015
10.1109/ICCIS.2015.7274620
2015 IEEE 7th International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)
Keywords
Field
DocType
RADOE project,robot application development and operating environment,robotic softwares,robot programming,industrial robots,Science and Engineering Research Council,Singapore,hierarchical system structure,state machines,KUKA LBR iiwa robot,motion planning
Motion planning,Hierarchical control system,Robot control,Systems engineering,Computer science,Personal robot,Control engineering,Modular design,Systems architecture,Robot,Mobile robot
Conference
ISSN
ISBN
Citations 
2326-8123
978-1-4673-7337-1
0
PageRank 
References 
Authors
0.34
10
5
Name
Order
Citations
PageRank
Haibin Yan11728.55
Yang, Y.2211.92
Renjun Li300.34
Masood Dehghan4497.11
Marcelo H. Ang577598.60