A new system with open architecture for robot control

摘要

Summary form only given. The closed architecture of conventional robot control systems is an obstacle to many robot applications, especially to the research projects in which the control schemes or the system parameters used by robot controllers need to be modified. For such cases, the architecture of the robot control system is desirable to be open and interactive. This paper presents a new robot control system with open architecture and an interactive user interface. First, we present the architecture for our system hardware and software followed with simple explanations of each module. Then, we discuss the system software and make a detailed explanation of a crucial module-the communication module of the system. Finally, we give a real world example to demonstrate the effectiveness of the proposed system. Because of the openness of the system, new control ideas can be tested and the results collected in a fraction of the previously needed time.