Re: motion controller

On Tue, 17 Dec 2002 [email protected] wrote:

> >The programming interface for the Application Builder relies on the
> >fact that the robot controller is designed according to the Orocos
> >Software Pattern for control; i.e., it knows that the following
> >components exist, and that it has to plug-in their functionalities:
>
> What do you mean with robot controller ? perhaps commercial
> controller?

No, certainly not: only the Orocos controller will know about this
Pattern :-) No commercial controllers use this pattern explicitly, as
far as known to me...

> Why does the robot controller must be designed according to Orocos
> software pattern and not vice versa?

What would "vice versa" mean?

The reason to use the Pattern as the design goal for Orocos is that that
Pattern is thought to cover all possible controllers, and hence improve
modularity and reusability. This, of course, still remains to be proven
in practice :-)

Herman

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  K.U.Leuven, Mechanical Engineering, Robotics Research Group
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