Real-Time Control Architecture (7-6) Background of research

Research objectives

• Control architecture for intelligent robots which lacks real-time capabilities cannot guarantee safety of robot operation and implementation of intelligent movement.

▪ Real-time capable control architecture is needed.

• Robot movement would seem more intelligent when body and arms are controlled simultaneously.

▪ Software architecture capable of simultaneous control is needed.

▪ Real-time networking capability is needed for simultaneous control job between two processors.

• Real-time control architecture for simultaneous control of Silvermate robot’s mobile-base and manipulators.

▪ Distributed real-time control architecture using two processors.

▪ Real-time control of manipulators ▪ Dependable sensing and actuation

technology ▪ Distributed real-time networking

technology ▪ Real-time obstacle avoidance (sub-project)

< Simultaneous Movement >

< Sequential Movement >

• Design and implementation of distributed real-time control architecture using two processors.

• Real-time control of manipulators.

• Dependable sensing and actuation technology.

▪ Research on Robot Health Monitoring.

▪ Sensor fault detection and recovery.

▪ Development of dependable real-time RT-CAN and RS485 drivers.

• Distributed real-time networking using Ethernet.

Research contents

Real-Time Control Architecture (7-6)

RT Driver

Sensors Mobile Base Ethernet

RTAI

Mobile Base Actuator

RTnet Driver

Sequencing Layer

Deliberate Layer

Localizer

Low-Level Configuration Knowledge

Mobile/Manipulation/grasp

Planner

Reactive Layer

High-Level Configuration Knowledge

Human-Robot Interface

Task Planner

RTAI

Master Mobile-Arm Obstacle Avoidance

Mobile Supervisor

Hardware

Arm Supervisor

Manipulator Hand Ethernet

Hand Driver RTnet Driver

Hand ControlManipulator Control

Slave Mobile-Arm Obstacle

Avoidance

Shared Memory

Resources

Action Coordinator

ActionsShared Memory

Resources

Manipulator Driver

Cameras

Camera Driver

Head

Pan Tilt Driver

Head Supervisor

Visual Recognition

Vision SBCArm SBCMain SBC

< Distributed Real-Time Control Architecture using RTAI >

Plug-and-play Layer

KvaserPCIcan-HS/HS

RT-task

RT

-CA

N

PCIcan

Hardware Abstraction Layer

PC-I04/104 PCI1680

Programming Interface

RTAI

SJA1000

RT-task RT-task

H/W

IXXATPC-I04/104

AdvantechPCI-1680U

...

< Structure of Real-Time CAN Driver >

Ethernet EthernetEncoder

RTAI Serial RTnet RTnet

Server Encoder Resource

Client Encoder Resource

Shared Memory

Shared Memory

Main SBC(Server)

Arm SBC(Client)

Data

Registration

Data

Data

Data Data

Data

Registration

Registration

Registration

Data

Data

< Virtual Resource for Distributed Control > < Manipulator Control Movie >

Byung Kook Kim

Professor, Division of Electrical Engineering, School of Electrical Engineering and Computer Science

Korea Advanced Institute of Science and Technology (KAIST)

bkkim@ee.kaist.ac.kr

Research Institutes : KAIST, Cheju National Univ.

Researchers : 14 (Univ. 14, Industry 0)

Project Leader