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The driver concept for the DLR Lightweight Robot III

Burger, Robert and Haddadin, Sami and Plank, Georg and Parusel, Svel and Hirzinger, Gerhard (2010) The driver concept for the DLR Lightweight Robot III. In: IROS 2010. IROS 2010, 18-22.Okt.2010, Taipeh, Taiwan.

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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 ap- plications 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 WindRiverTM VxWorksTM .

Document Type:Conference or Workshop Item (Speech, Paper)
Title:The driver concept for the DLR Lightweight Robot III
AuthorsInstitution or Email of Authors
Burger, Robertrobert.burger@dlr.de
Haddadin, Samisami.haddadin@dlr.de
Plank, Georggeorg.plank@dlr.de
Parusel, Svelsven.parusel@dlr.de
Hirzinger, Gerhardgerhard.hirzinger@dlr.de
Date:18 October 2010
Journal or Publication Title:IROS 2010
Keywords:Synchronisation, Roboter, Echtzeitsysteme, Treiberarchitektur, POSIX
Event Title:IROS 2010
Event Location:Taipeh, Taiwan
Event Type:international Conference
Event Dates:18-22.Okt.2010
Organizer:National Taiwan University, Department of Electrical Engineering
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Leistungszentrum Robotik - Kognitive Intelligenz und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Robert Burger
Deposited On:11 Jan 2011 10:04
Last Modified:12 Dec 2013 21:09

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