| Summary: | 碩士 === 國立中央大學 === 資訊工程學系在職專班 === 104 === A robot application system is typically developed through the processes of design, implementation, testing, deployment, debugging, and adjustment. These processes not only involve a variety of complex methods, technologies, and tools, but they also require considerable time and human resources. This paper proposes a new platform that simplifies and expedites processes for developing robot application systems. Based on a design methodology proposed by the Machine Intelligence and Automation Technology Laboratory for embedded system software, a Web-based GRAFCET Application (GPP) editor, a GRAFCET virtual machine (GVM), and a robot operating system (ROS) are incorporated to construct a robot application system development platform. System developers can employ the proposed platform to describe GPP system behaviors in a short time by using GRAFCET graphical languages at a remote end. The GPP system behaviors are then transmitted in the form of a code table to the GVM of remote robot controllers to decode the GPP and perform corresponding control and sensing processes. To develop a robot control system framework, the Modbus fieldbus protocol is applied to create a superior–subordinate communication protocol for achieving a distributed-control-based multicore robot controller that fulfills the flexible expansion requirements of systems. An empirical instance of robot application system development based on the ROS is cited in this paper to verify the usefulness and performance of the proposed platform.
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