2 - Robot Programming Flashcards
What are three options for processing units in robots?
On-board, off-board and hybrid architecture
What are the features of an on-board processing unit?
Fast responses, embodied, processing power is limited by the physical size of robot
What are the features of an off-board processing unit?
Remote computers, significant processing power, problems with communication, data transfer and syncrhonisation
What are the problems with off-board processors?
Problems with communication, data transfer and synchronisation
What are the problems with on-board processors?
Its processing power is limited by the physical size of the robot
What is the hybrid architecture for processing units?
On board processing unit for low-level tasks and a PC for higher-level tasks
What are the 6 parts to robot software?
Hardware drivers, audio/video encoders, command interface, sensor library, software components, simulator
What do you need to be able to do when talking to robots?
Send motor/actuator commands and read and process data from sensors
In some robots, what is used to access all sensors and actuators?
Domain-specific command language implemented inside the robot
What is middleware in robots?
Middleware supports and simplifies complex distributed applications
What are ROS nodes?
Encapsulated functionality in ROS
What are the two ways to implement tasks and behaviours in robotics programming?
Scripts and continuous operations
What are scripts?
A pre-programmed sequence of commands
What is continuous operation?
Sense (read sensor data), think (process data and make decisions) and act (execute actions)
What are two options for “thinking” in robotics programming?
Synchronous and asynchronous
