A Hardware Interface for Joint Control in the AD Architecture
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The document presents a master thesis on a hardware interface for joint control within the Automatic-Deliberative (AD) architecture, primarily focusing on the robotic system 'Maggie.' It details the challenges of replacing hardware in robotics, introduces a new architecture for low-level hardware abstraction via a driver interface, and highlights the modular design's advantages. The thesis concludes with the implementation encouraging hardware independence and suggests future work to support additional hardware integrations.
A Hardware Interface for Joint Control in the AD Architecture
- 1. A Hardware Interface for Joint Control in the AD Architecture Author: Víctor González Pacheco Director: Prof. Miguel Ángel Salichs Master Thesis Master in Robotics and Automation UC3M - September 2010 1
- 2. Outline Long Term Memory DSkill 1 DSkill 2 DSkill n Short Term Memory ASkill 1 ASkill 2 ASkill n Sensors Actuators 1. Introduction 2. Related Work 3. Maggie and AD Actuator Driver Interface SDM SDM 4. The New architecture 5. Implementation 6. Conclusions 2
- 3. 1. Introduction 3
- 4. The Initial objective was Maggie expressing emotions. 4
- 5. Replacing hardware in robotics it is difficult Replacing computer hardware In robotics is more difficult is easy 5
- 6. 2. Related Work 6
- 7. Similar architectures provide low level hardware control and network access to it Network Remote Part Communication Enabler Hardware Control 7
- 8. ¿How other architectures deal with the hardware dependencies? Network Remote Part Communication Module They use hardware Hardware Interface interfaces to abstract the hardware. Hardware Hardware Controller Controller 8
- 9. Long Term Memory DSkill 1 DSkill 2 DSkill n Short Term Memory ASkill 1 ASkill 2 ASkill n Sensors Actuators 3. Maggie and AD 9
- 10. The Robot Maggie. Sensing System of the Robot 10
- 11. The Robot Maggie. Actuators and Interaction Devices 11
- 12. The Automatic-Deliberative (AD) Architecture. Conceptual view. D Long Term Memory E L I B E R DSkill 1 DSkill 2 DSkill n A T I V E Short Term Memory Events A U T O ASkill 1 ASkill 2 ASkill n M A T I C Sensors Actuators 12
- 13. There is no Low Level Hardware Abstraction in AD AD Skill API 1 API 2 API 3 Comm. (remote): Client 1 Client 2 Client 3 Comm. (local): Server 1 Server 2 Server 3 HW Control: Primitive 1 Primitive 2 Primitive 3 13
- 14. Actuator Driver Interface SDM SDM 4. The New Architecture 14
- 15. The new design establishes a hardware interface above the Hardware controllers Network AD (remote) AD (local) Hardware Interface The Driver Layer Abstracts AD from the Hardware HW HW Controller Controller Driver Layer 15
- 16. The modules are the following: Actuator AD (local part) Driver Interface Hardware Interface SDM SDM Hardware Controller Driver Layer SDM stands for Specific Driver Module 16
- 17. The Actuator is the AD skill wich controls the joints. Is an AD skill Actuator Will use Events Will use Shared Memory Controls Hardware in a generic way Driver Interface SDM SDM Driver Layer 17
- 18. The key of the hardware abstraction is the Driver Interface Actuator Selects the adecuate SDM Invokes the SDM Driver Interface Links it with the Actuator The Actuator believes is controlling the Driver Interface... SDM SDM … but it's not Driver Layer 18
- 19. The SDMs do the Low Level Hardware Control Actuator Driver Interface Low Level Hardware Control 1 SDM controls 1 driver type SDM SDM Translates Actuator ↔ Driver languages Driver Layer Communicates with the driver 19
- 20. How the Actuator choses the adecuate SDM? Actuator Driver Interface ? ? SDM A SDM B Driver Layer 20
- 21. Answer: using XML files myActuator.xml Actuator Type: “SDM B” File: “sdmB.xml” <driverType>SDM B</driverType> <driverFile>sdmB.xml</driverFile> Driver Interface File: “sdmB.xml” sdmB.xml SDM A SDM B Driver Layer 21
- 22. 5. Implementation 22
- 23. Actuator Class Diagram: control and data are separated. ActuatorMotorSensor Actuator ActuatorStatus ActuatorConfiguration DriverInterface Actuator Control Data 23
- 24. Driver Layer Class Diagram: Inheritance and Polymorphism allow the Hardware Abstraction Driver Interface DriverMotorSensor DriverInterface DriverStatus DriverConfiguration MCDC3006S MCDC3006S SDM Driver MCDC3006 MotorSensor MCDC3006Status MCDC3006 Configuration 24
- 25. 6. Conclusions 25
- 26. Conclusions Network AD (remote) AD (local) Hardware Interface HW HW Controller Controller AD is now closer to being hardware independent 26
- 27. Conclusions More than 100 new funtionalities Modular Design sdmB.xml Flexible control Code Robustness with XML files 27
- 28. Future Work Build SDMs to support more Hardware Network AD (remote) Actuator Integrate the Actuator with AD 28
- 29. Thanks for your attention. Questions? 29