Design and implementation of the Robotic Platform

摘要

This paper describes the design and implementation of the Robotic Platform, an object-oriented development platform for robotic applications. The Robotic Platform includes servo control, trajectory generation, 3D simulation, a graphical user interface, and a math library. As opposed to distributed solutions, the Robotic Platform implements all these components on a single hardware platform (a standard PC), with a single programming language (C++), and on a single operating system (the QNX Real-Time Platform) while guaranteeing deterministic real-time performance. This design leads to an open architecture that is less complex, easier to use, and easier to extend.