Since robotics shares its intellectual tradition with control engineering, periodic sampling became a dominant strategy for real-time sensing in robotic systems. The idea of periodic sampling is central to the classical approach to digital system control, as it is rooted in the solid theory of periodic control ( Astrom, 2008). The reason is that in many cases, especially in the research environment, robots are viewed as continuous systems, characterized by a set of continuous time-varying signals, sampled at a constant interval ( Dantam et al., 2016). The primary use of the publish/subscribe mechanisms in systems based on robotics middleware is delivery of periodic sensor readings. Most of them support publish-subscribe messaging style, where messages are asynchronously delivered from publisher to subscriber nodes. To tackle the challenges associated with communication and coordination complexity, a number of robotic middleware solutions has been developed, most notably, the Robot Operating System (ROS). This is the reason why robotic architecture becomes increasingly important. In addition, many robot systems need to respond at varying temporal scopes-from millisecond feedback control to minutes, or hours, for complex tasks”. As Kortenkamp & Simmons (2008) note, “robot systems need to interact asynchronously, in real time, with an uncertain, often dynamic, environment.
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Because modern robotic systems operate in a networked environment, the additional complexity is caused by the nature of interaction and coordination with sensors, vision systems, various mechatronic equipment, and computational components, such as servers and cloud services. Robots are always associated with high level of complexity, which is usually considered with respect to the task being performed. The proposed solution facilitates integration of Adept robots into distributed environments and building more flexible robotic solutions with event-based logic. It is programmed in asynchronous style using pyadept, a Python library based on Python coroutines, AsyncIO event loop and ZeroMQ middleware. The control module possesses bidirectional communication with the robot controller and publish/subscribe messaging with external systems. The architecture is based on the robot controller providing a TCP/IP server and a collection of robot skills, and a high-level control module deployed to a dedicated computing device.
![python event driven framwork python event driven framwork](https://i.ytimg.com/vi/k_kmK8JU9Fo/hqdefault.jpg)
This paper proposes an architecture for flexible event-based control of industrial robots based on the Adept V+ platform. Despite all the advances in middleware, industrial robots remain difficult to program in context of distributed systems, to a large extent due to the limitation of the native robot platforms. Event-driven architecture has manifested its effectiveness for building loosely-coupled systems based on publish-subscribe middleware, either general-purpose or robotic-oriented. In addition, on the conceptual level, events are an important building block for realizing reactivity and coordination. The latter is largely attributed to the specifics of communication over the network, which, in terms, facilitates asynchronous programming and explicit event handling. On the fundamental level, communication and coordination between all parties in such distributed system are characterized by discrete event behavior. They operate in a distributed environment and communicate with sensors, computer vision systems, mechatronic devices, and computational components. Modern industrial robotic systems are highly interconnected. Event-driven industrial robot control architecture for the Adept V+ platform. Cite this article Semeniuta O, Falkman P. For attribution, the original author(s), title, publication source (PeerJ Computer Science) and either DOI or URL of the article must be cited.
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#Python event driven framwork software
2 Department of Electrical Engineering, Chalmers University of Technology, Gothenburg, Sweden DOI 10.7717/peerj-cs.207 Published Accepted Received Academic Editor Shlomi Dolev Subject Areas Autonomous Systems, Computer Networks and Communications, Computer Vision, Robotics, Software Engineering Keywords Robotics, Adept, Coroutines, AsyncIO, ZeroMQ, Robot architecture, Computer vision, Communication protocols, Concurrency, System composability Copyright © 2019 Semeniuta and Falkman Licence This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, reproduction and adaptation in any medium and for any purpose provided that it is properly attributed.