NDLI: The driver concept for the DLR lightweight robot III

Content Provider	IEEE Xplore Digital Library
Author	Burger, R. Haddadin, S. Plank, G. Parusel, S. Hirzinger, G.
Copyright Year	2010
Description	Author affiliation: Institute of Robotics and Mechatronics German Aerospace Center (DLR), D-82234 Wessling, Germany (Burger, R.; Haddadin, S.; Plank, G.; Parusel, S.; Hirzinger, G.)
Abstract	In this paper we present the synchronization and driver architecture of the DLR LWR-III, which supplies an easy to use interface for applications. For our purpose we abstracted the robot hardware entirely from the control algorithms using the common device driver concept of modern operating systems. The software architecture is split into two modular parts. On the one side, there are device drivers that communicate with the hardware components. On the other side, there are realtime applications realized as Simulink Models, which provide advanced control algorithms. This ensures a clean separation between the two modules and provides a communication over a common and approved interface. Furthermore we investigated how we can ensure synchronization to the hardware over the device driver interfaces and how we can ensure that it meets hard realtime requirements. The main result of this paper is to realize a synchronization between LWR-III hardware and Simulink control applications while targeting small latencies with respect to hard realtime requirements. The design is implemented and verified on WindRiver™VxWorks™.
Starting Page	5453
Ending Page	5459
File Size	1308411
Page Count	7
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5650299
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Hardware Driver circuits Robots Synchronization Kernel Aerospace electronics
Content Type	Text
Resource Type	Article

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