Real-Time Robotics Framework

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getting_started:overview

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getting_started:overview [2019/04/25 18:53] – [Concept] grafgetting_started:overview [2021/04/01 14:01] – [Sequencer] jonasfrei
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 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// }}]
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 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 ====
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 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)====
getting_started/overview.txt · Last modified: 2021/04/01 14:04 by jonasfrei