A Robot Control Architecture Based on an Object Server

摘要

A new robot control architecture is introduced and discussed. The suggested architecture is very universal, i.e. it can be employed for a wide variety of robotic system implementations ranging from sophisticated industrial robot control to autonomous robot systems. With this respect it differs substantially from available commercial control system and makes it an ideal platform for the implementation of open research systems. In the literature hierarchical, behaviored and hybrid architectures are suggested. The choice of the appropriate architecture heavily depends on the type of user's application. The architectural concept proposed here can be adapted to different requirements. And despite of this flexibility, a consistent system is ensured. To meet these demands, a special server is proposed as the kernel of the system. It manages all running modules. The interactions between this Object Server and the modules are supported by a special message format, which is uniform for all modules of the system.