Jörg, Stefan und Tully, Jan und Albu-Schäffer, Alin (2014) The Hardware Abstraction Layer - Supporting Control Design by Tackling the Complexity of Humanoid Robot Hardware. In: IEEE International Conference on Robotics and Automation (ICRA), Seiten 6427-6433. ICRA, International Conference on Robotics and Automation, 2014-05-31 - 2014-06-07, Hong Kong, China. doi: 10.1109/icra.2014.6907808.
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Kurzfassung
Humanoid robots are highly integrated robotic systems with many sensors and actuators. The DLR Hand Arm system has 52 motors and 430 sensors. Design goal is to operate the robot with high-performance feedback control at cycles beyond 1kHz but to retain the flexibility of prototyping control algorithms. This is achieved with the concept of a Hardware Abstraction Layer (HAL) that provides a convenient high-level interface to the entire robotic hardware. The requirements for the design of a HAL in terms of functionality and implementation are presented that improve the integration of complex robot hardware with prototype control applications. Experiments with the HAL of the DLR Hand Arm System demonstrate the high performance of a Simulink Interface implementation. A 3 kHz control loop yields a latency below 333 µs and a jitter below 50 µs.
elib-URL des Eintrags: | https://elib.dlr.de/96021/ | ||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||
Titel: | The Hardware Abstraction Layer - Supporting Control Design by Tackling the Complexity of Humanoid Robot Hardware | ||||||||||||||||
Autoren: |
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Datum: | 7 Juni 2014 | ||||||||||||||||
Erschienen in: | IEEE International Conference on Robotics and Automation (ICRA) | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Nein | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Nein | ||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||
DOI: | 10.1109/icra.2014.6907808 | ||||||||||||||||
Seitenbereich: | Seiten 6427-6433 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | Humanoid Robot Hardware | ||||||||||||||||
Veranstaltungstitel: | ICRA, International Conference on Robotics and Automation | ||||||||||||||||
Veranstaltungsort: | Hong Kong, China | ||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
Veranstaltungsbeginn: | 31 Mai 2014 | ||||||||||||||||
Veranstaltungsende: | 7 Juni 2014 | ||||||||||||||||
Veranstalter : | IEEE | ||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik (alt) | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||
Hinterlegt von: | Beinhofer, Gabriele | ||||||||||||||||
Hinterlegt am: | 29 Apr 2015 15:42 | ||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:01 |
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