設計與實作跨平台機器人虛擬程式語言~以 Zenbo 機器人為實現案例

Design and Implementation of a Virtual Language for Robots of Different Platforms~ A Case Study using Zenbo Robot

黃思揚(Szu-Yang Huang)

指導教授 ： 張世豪

淡江大學/工學院/資訊工程學系碩士班/碩士(2019年)

https://doi.org/10.6846/TKU.2019.00143

摘要

隨著機器人核心技術的不斷突破及軟硬體平臺發展，廣泛的應用將擴大服務機器人的市場，並推動整個機器人產業大範圍地推廣到各個領域。但由於目前服務機器人產業缺少統一的規範，不同廠家推出了相異的機器人，硬體平臺、作業系統及開發API也不盡相同。面對這種情況，應用開發工程師若要在各種機器人開發相同的服務應用程式，則需要瞭解不同機器人的軟硬體架構及相關API。這無異增加了應用工程師的工作，限制了工程師的開發空間，降低了工程師的工作效率。
基於上述所面臨到的困難，本論文將設計一套機器人虛擬語言及實作平台，其可應用在各個不同類的機器人，以降低應用服務工程師的工作負擔，進而取代應用服務工程師學習各家機器人API的時間。以及在不同機器人同類應用服務上的開發上，也能較易於使用機器人虛擬語言進行引用。
為因應此需求，本論文擬製作一套機器獨立(machine independent)的虛擬語言及機器相關(machine dependent)的執行器(adapter)。虛擬語言負責表示應用服務工程師下達的指令，而adapter程式負責接收語言指令並下達給機器人API執行動作。

關鍵字

機器人 ； 相異 ； API ； 機器人虛擬語言

並列摘要

With the continuous breakthrough of the core technology of robots and the development of software and hardware platforms, a wide range of applications of the robots has expanded the market for service robots and promote the entire robot industry to a wide range of fields. However, due to the lack of general specifications in the service robot industry, different manufacturers have introduced a number of robots with different hardware platforms, operating systems as well as development APIs. As a result, the application development engineers need to understand the hardware and software architecture and related APIs of different robots if they want to develop the same service application in various robots. This challenge not only increases the workload of the application engineer but also limits the development space and reduces the efficiency of the engineer.
Based on the above issues, this thesis aims to design a set of robot virtual language and implementation platform that can be applied to different types of robots to reduce the workload of application service engineers. This help reduce the required time for application service engineers to learn a various of robot APIs. The virtualization of programming languages of different robot also eases and speeds up the development of application services using robots.
In response to this demand, this paper intends to produce a machine-independent (machine-independent) virtual language and machine-dependent (machine-dependent) actuator (adapter). The virtual language is responsible for indicating the instructions issued by the application service engineer, and the appropriate program is responsible for receiving the language instructions and issuing actions to the robot API.

並列關鍵字

robot ； adaptor ； API ； robot virtual language ； robot hardware

參考文獻

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