ＲＴミドルウェアを用いた移動ロボット制御の操作性改善

内藤 隆; 北野 斉; 臼井 翼; 望月 恒星; 飯村 彰浩; 星野 京延

doi:10.1299/jsmermd.2019.2A1-N07

2019

Session ID : 2A1-N07

DOI https://doi.org/10.1299/jsmermd.2019.2A1-N07

Conference information

Host: The Japan Society of Mechanical Engineers

Name : [in Japanese]

Date : June 05, 2019 - June 08, 2019

Improvement of operability for Mobile Robot control with RT Middleware

*Takashi NAITO, Hitoshi KITANO, Tsubasa USUI, Kousei MOCHIZUKI, Akihiro IIMURA, Takanobu HOSHINO

Author information

Keywords: Mobile Robot, RT Middleware, Operability, Processing duration

CONFERENCE PROCEEDINGS RESTRICTED ACCESS

Details

Abstract

We utilize RT middleware as the software to control the mobile robot. When operating the mobile robot, there will arise various connection and activate processing in RT component. And the number of command execution in RTshell becomes many and which leads longer processing duration and operability lowering. We have adopted, consequently, the method to minimize the number of condition obtaining in system so as to shorten the processing duration and improve operability.

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