探讨了基于混合关键系统的工业机器人操作系统的关键技术,以应对机器人在非结构化或半结构化智能场景中面临的技术瓶颈。当前,随着智能技术在机器人领域的快速应用,机器人操作系统需要同时满足面向控制系统的强实时任务和面向智能化应用的弱实时任务需求,因此需要一个异构的多核智能系统。本文提出了一种针对机器人的架构设计,旨在提高机器人操作系统的实时性、安全性和智能化水平,并对工业机器人操作系统的未来发展趋势进行了展望,预测了工业机器人操作系统未来的演进方向。
Abstract
This paper explores the key technologies of an industrial robot operating system based on a mixed criticality system to address the technical challenges faced by robots in non-structured or semi-structured intelligent scenarios.With the rapid application of intelligent technologies in the field of robotics,the robot operating systems need to meet the requirements of strong real-time tasks for control systems and weak real-time tasks for intelligent applications.So a heterogeneous multi-core intelligent system is needed.The paper proposes an architecture design specifically tailored for robots,with the aim of enhancing the real-time performance,security,and intelligence level of robot operating systems.Furthermore,this paper provides insights into the future development trends of industrial robot operating systems and predicts the future evolution direction.
关键词
嵌入式系统 /
机器人操作系统 /
分级实时多内核混合部署
Key words
embedded systems /
robot operating system /
hierarchical real-time multi-core hybrid deployment
{{custom_sec.title}}
{{custom_sec.title}}
{{custom_sec.content}}
参考文献
[1] International Organization for Standardization.ISO 8373:2021 (en) Robotics-Vocabulary,2021.
[2] Mo C,Wang L,Li S,et al.Rust-Shyper:A reliable embedded hypervisor supporting VM migration and hypervisor live-update[J].Journal of Systems Architecture,2023(142):102948.
[3] D’Avella S,Avizzano C A,Tripicchio P.Ros-industrial based robotic cell for industry 4.0:Eye-in-hand stereo camera and visual servoing for flexible,fast,and accurate picking and hooking in the production line[J].Robotics and Computer-Integrated Manufacturing,2023(80):102453.
[4] Shao J,Gan Y,Dai X.Autonomous Path Planning and Realization for Dual Robot Cooperation Based on ROS Framework[C]//2023 International Conference on Advanced Robotics and Mechatronics (ICARM).IEEE,2023:1065-1070.
[5] Gerkey B,Vaughan R T,Howard A.The player/stage project:Tools for multi-robot and distributed sensor systems[C]//Proceedings of the 11th international conference on advanced robotics,2003,1:317-323.
[6] Bruyninckx H.OROCOS:design and implementation of a robot control software framework[C]//Proceedings of IEEE International Conference on Robotics and Automation.Citeseer,2002.
[7] Metta G,Fitzpatrick P,Natale L.YARP:yet another robot platform[J].International Journal of Advanced Robotic Systems,2006,3(1):8.
[8] Ando N,Suehiro T,Kotoku T.A software platform for component based rt-system development:Openrtm-aist[C]//International Conference on Simulation,Modeling,and Programming for Autonomous Robots.Berlin,Heidelberg:Springer Berlin Heidelberg,2008:87-98.
[9] Robot Operating System (ROS)[M].Cham,Switzerland:Springer,2017.
[10] Chitta S,Sucan I,Cousins S.Moveit![ros topics][J].IEEE Robotics & Automation Magazine,2012,19(1):18-19.
[11] Boren J,Cousins S.Exponential growth of ROS [ROS topics][J].IEEE Robotics & Automation Magazine,2011,18(1):19-20.
[12] Zhao W X,Zhou K,Li J,et al.A survey of large language models[J].arXiv preprint arXiv:2303.18223,2023.
基金
*北京市科技计划项目支持(Z221100007722001)
PDF(1001 KB)
