From Robot Commands to Real-time Robot Control - Transforming High-level Robot Commands into Real-time Dataflow Graphs

Abstract

Task descriptions in robotics always provide a level of abstraction in order to simplify the use of robots.Nevertheless, aspects such as execution time determinism and closed-loop control are still essential for industrialstrength robotics systems.For this reason, we propose an approach to combine high-level task description with real-time robot control.At application runtime, coordinated and sensor-guided robot actions are composed using an object-oriented application programming interface.The resulting high-level command descriptions are then automatically transformed into dataflow graphs and executed with real-time guarantees on robot hardware.The approach is illustrated with several examples.