Open software architecture for east articulated maintenance arm
文献类型：期刊论文
| 作者 | Wu, Jing1,2 ; Wu, Huapeng2; Song, Yuntao1; Li, Ming2; Yang, Yang1; Alcina, Daniel A. M.2
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| 刊名 | FUSION ENGINEERING AND DESIGN
 |
| 出版日期 | 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 |
| 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. |
入库方式： OAI收割
来源：合肥物质科学研究院
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