로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제15권4호
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  • Pages.375-384
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  • 2020
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
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이종의 제어 플랫폼들로 구성된 로봇 시스템을 ROS 기반의 시스템으로 손쉽게 통합하기 위한 소프트웨어의 개발

SW Development for Easy Integration of Robot System Composed of Heterogeneous Control Platforms into ROS-based System

  • 투고 : 2020.06.12
  • 심사 : 2020.09.16
  • 발행 : 2020.11.30
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초록

Today's robots consist of many hardware and software subsystems, depending on the functions needed for specific tasks. Integration of subsystems can require a great deal of effort, as both the communication method and protocol of the subsystem can vary. This paper proposes an expandable robotic system in which all subsystems are integrated under Robot Operation System (ROS) framework. To achieve this, the paper presents a software library, ROS_M, developed to implement the TCP/IP-based ROS communication protocol in different control environments such as MCU and RT kernel based embedded system. Then, all the subsystem including hardware can use ROS protocol consistently for communication, which makes adding new software or hardware subsystems to the robotic system easier. A latency measurement experiment reveals that the system built for loop control can be used in a soft real-time environment. Finally, an expandable mobile manipulator robot is introduced as an application of the proposed system. This robot consists of four subsystems that operate in different control environments.

키워드

참고문헌

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