Real-Time Robotics Framework

User Tools

Site Tools

You are here: EEROS Wiki » Get Started Using EEROS » Get An Overview of EEROS
getting_started:overview

Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revisionPrevious revision
Next revision		Previous revision
getting_started:overview [2019/04/25 18:53] – [Concept] grafgetting_started:overview [2021/04/01 14:04] (current) – [Hardware Abstraction Layer (HAL)] jonasfrei
Line 29: Line 29:
 The robot controller, defined in EEROS as the control system, is the real-time core of the application. In order to guarantee the modular and exchangeable nature of the software system, it is built from predefined blocks, which can alter the signals flowing through the blocks. Nesting and ordering of these blocks creates very clear hierarchical structures. Blocks can be assigned to real- or non-real-time domains. Additionally, all signals in EEROS have a standard set of information, which increases the semantics of this information.  The robot controller, defined in EEROS as the control system, is the real-time core of the application. In order to guarantee the modular and exchangeable nature of the software system, it is built from predefined blocks, which can alter the signals flowing through the blocks. Nesting and ordering of these blocks creates very clear hierarchical structures. Blocks can be assigned to real- or non-real-time domains. Additionally, all signals in EEROS have a standard set of information, which increases the semantics of this information. 
  
-Learn more about the control system [[:eeros_architecture:control_system:start |here]].+[[:eeros_architecture:control_system:start |Learn more about the control system]].
  
 [{{ :eeros_architecture:control_system:controlloopwithtwotimedomains.png?600 | //The control system is built from blocks running in time domains// }}] [{{ :eeros_architecture:control_system:controlloopwithtwotimedomains.png?600 | //The control system is built from blocks running in time domains// }}]
Line 39: Line 39:
 Each level reads the states from all safety-critical inputs and defines the states of all safety-critical outputs. There are no actions allowed during a transition between two safety levels, since this would be a hidden transition state. The safety system is functional from the very beginning of the development of a new robot control system. This ensures that no dangerous condition can arise even when a system is set up. Each level reads the states from all safety-critical inputs and defines the states of all safety-critical outputs. There are no actions allowed during a transition between two safety levels, since this would be a hidden transition state. The safety system is functional from the very beginning of the development of a new robot control system. This ensures that no dangerous condition can arise even when a system is set up.
  
-Learn more about the safety system [[:eeros_architecture:safety_system:start |here]].+[[:eeros_architecture:safety_system:start |Learn more about the safety system]].
  
 ==== Sequencer ==== ==== Sequencer ====
Line 47: Line 47:
 The robot's motions are defined as sequence of steps. The sequencer, which is an integral part of the EEROS Framework, has to be assigned one main sequence. Additionally, several subsequences may be defined and added to the sequencer. Each sequence may include many single steps which must run to completion (unless interrupted by the safety system). The robot's motions are defined as sequence of steps. The sequencer, which is an integral part of the EEROS Framework, has to be assigned one main sequence. Additionally, several subsequences may be defined and added to the sequencer. Each sequence may include many single steps which must run to completion (unless interrupted by the safety system).
  
-Learn more about the sequencer [[:eeros_architecture:sequencer:start |here]].+[[:eeros_architecture:sequencer:start |Learn more about the sequencer]].
  
 ==== Hardware Abstraction Layer (HAL)==== ==== Hardware Abstraction Layer (HAL)====
  
-The HAL provides an interface between the program and the robot. Any command in the program must pass through the HAL in order to be carried out. Additionally, any inputs from sensors have to use the HAL to interact with the program. In order to make eeros platform independent and runnable on any hardware system, a configuration file is used to describe the physical properties of the inputs and outputs. Such an in- or output could be connected through a plethora of busses such as PCIe, SPI or EtherCAT. For further information see [[eeros_architecture:hal:start|]].+The HAL provides an interface between the program and the robot. Any command in the program must pass through the HAL in order to be carried out. Additionally, any inputs from sensors have to use the HAL to interact with the program. In order to make eeros platform independent and runnable on any hardware system, a configuration file is used to describe the physical properties of the inputs and outputs. Such an in- or output could be connected through a plethora of busses such as PCIe, SPI or EtherCAT. 
 + 
 +[[eeros_architecture:hal:start|Learn more about the Hardware Abstraction Layer]].
  
  
getting_started/overview.1556211210.txt.gz · Last modified: 2019/04/25 18:53 by graf