Object-Oriented Robot Control Framework

Object-oriented frameworks are a promising new technology to improve software quality and reduce development costs. In contemporary software development frameworks play an increasingly important role. Subject of our paper is an object-oriented ready-to-use framework for robot control systems. benefits are the fast software development, the better quality of software and the reduction of costs. II. ROBOT CONTROL FRAMEWORK Like other frameworks the Robot Control Framework is based on an existing object-oriented robot control system the HighRobot control [7]. The framework is realized in C++ [15] and supports operating systems with POSIX.4 [4] real-time extensions. With the Robot Control Framework especially multitasking control systems can be developed. The framework covers robot control functionality like path planning as well as the control of peripheral devices. It supports standard control hardware such as workstations and PCs with standard operating systems. Furthermore the framework provides an interface for the development of new control software such as a numeric control. Drive Controllers for Robot Drives SPARC Workstation or Windows NT PC Open Robot Control