Cascaded change of state

Hi everybody,

At Politecnico di Milano we recently implemented an OROCOS 
based controller for a 6 axis robot (actually tested only 
on a simulator).

Maybe Peter remembers it from his last visit :)

We are now trying to implement a cascaded control kernel 
schema which uses the old control kernel as inner kernel, 
and has a new control kernel that grabs the trajectory 
input from a joystick, sampled at a lower frequency.

We are now facing the problem of issuing the kernel START 
command from an HMI console device.

In the old application the console 'start' command 
triggers the transition from a state in which the robot is 
still with brakes ON to a state in which the robot is 
still with brakes OFF, and the motors are sustaining it.

In the new application we want to assign the upper kernel 
to the HMI console input, and we want to pass the START 
information from the upper kernel to the lower one. This 
is a kind of "cascaded configuration flow".

But we do not know how a change of state of the upper 
kernel can trigger a change of state in the lower kernel. 
We don't even know if this is possible.

Is there any "common" solution to this problem, or the 
problem is not well formulated?

I thank you in advance for your support,

kind regards,

Marco Gritti

Ing. Marco Gritti
Politecnico di Milano - DEI
Via Ponzio 34/5 - 20133 Milano (Italy)
Phone: +39 02 2399 3466
Email: [email protected]

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"Jim, I'm a doctor, not a programmer"

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