Robot control module software framework for real-time tasks

LI Xiao-ming， SUN Chen-chen
（Faculty of Mechanical Engineering & Automation，Zhejiang Sci-Tech University，Hangzhou 310018，China）

Abstract： Aiming at the real-time requirement of robotic control，some improvements were made based on the previously developed component based robotic software framework. These improvements included：the newly designed interface for real-time task，the concept of real-time task module，the new model for real-time clock，and new scheme for execution of multiple real-time tasks. The new framework was implemented using the Java programming language，and the real-time clock was implemented based on JNI，so that the Windows OS based multimedia clock could be integrated into the Java program and providing the most accurate clock event in the PC platform. The test result demonstrates the effectiveness of the framework. The results indicate that the improved software framework is more suitable for mechatronic control software development，especially for the application of robot，which has certain requirements of real-time performance. This software framework decreases the difficulties in building robotic control softwares and provides a strong flexible development for its software development platform.
Key words： robot； software framework； real-time； real-time task； Java