Open software architecture for east articulated maintenance arm

doi:10.1016/j.fusengdes.2016.02.074

CORC > 合肥物质科学研究院 > 中国科学院合肥物质科学研究院 > 中科院等离子体物理研究所

	Open software architecture for east articulated maintenance arm
	Wu, Jing1,2 ; Wu, Huapeng 2; Song, Yuntao 1; Li, Ming 2; Yang, Yang 1; Alcina, Daniel A. M.2
刊名	FUSION ENGINEERING AND DESIGN
	2016-11-01
卷号	109 期号:无页码:474-479
关键词	East Eama Maintenance Software Architecture Real-time Control Orocos
DOI	10.1016/j.fusengdes.2016.02.074
文献子类	Article
英文摘要	For the inside inspection and the maintenance of vacuum vessel in the EAST, an articulated maintenance arm is developed. In this article, an open software architecture developed for the EAST articulated maintenance arm (EAMA) is described, which offers a robust and proper performance and easy-going experience based on standard open robotic platform OROCOS. The paper presents a component-based model software architecture using multi-layer structure: end layer, up layer, middle, and down layer. In the end layer the components are defined off-line in the task planner manner. The components in up layer complete the function of trajectory plan. The CORBA, as a communication framework, is adopted to exchange the data between the distributed components. The contributors use Real-Time Workshop from the MATLAB/Simulink to generate the components in the middle layer. Real-time Tookit guarantees control applications running in the hard real-time mode. Ethernets and the CAN bus are used for data transfer in the down layer, where the components implement the hardware functions. The distributed architecture of control system associates each processing node with each joint, which is mapped to a component with all functioning features of the framework. (C) 2016 Elsevier B.V. All rights reserved.
WOS关键词	INSPECTION ; ROBOT
WOS研究方向	Nuclear Science & Technology
语种	英语
WOS记录号	WOS:000382421900082
内容类型	期刊论文
源URL	[http://ir.hfcas.ac.cn:8080/handle/334002/30818]
专题	合肥物质科学研究院_中科院等离子体物理研究所
作者单位	1.Chinese Acad Sci, Inst Plasma Phys, 350 Shushanhu Rd, Hefei, Anhui, Peoples R China 2.Lappeenranta Univ Technol, Skinnarilankatu 34, Lappeenranta, Finland
推荐引用方式 GB/T 7714	Wu, Jing,Wu, Huapeng,Song, Yuntao,et al. Open software architecture for east articulated maintenance arm[J]. FUSION ENGINEERING AND DESIGN,2016,109(无):474-479.
APA	Wu, Jing,Wu, Huapeng,Song, Yuntao,Li, Ming,Yang, Yang,&Alcina, Daniel A. M..(2016).Open software architecture for east articulated maintenance arm.FUSION ENGINEERING AND DESIGN,109(无),474-479.
MLA	Wu, Jing,et al."Open software architecture for east articulated maintenance arm".FUSION ENGINEERING AND DESIGN 109.无(2016):474-479.