一种基于机器人控制软件的构件缺陷管理方案

Scheme on Faults Management of Components Based on Robot Control Software

针对开源机器人控制软件构件缺陷管理的难题,提出一种分层式构件缺陷管理方案。该方案由缺陷监测层、缺陷诊断层和缺陷隔离恢复层共同作用,通过对系统各构件的运行状态参数的监测、分析,形成缺陷信息表,诊断和评估组合构件的缺陷,恢复或隔离缺陷构件,从系统框架层面实现软件平台构件的缺陷管理。结果表明:该方案能提高缺陷诊断精度,构件恢复或隔离的速度,可为智能机器人研发中缺陷管理提供参考。

Aiming at the problem of the components fault management in robot control system, a layer model fault management scheme is proposed. The scheme is consist of faults monitoring layer, fault analyzing layer and fault isolated/recovering layer which work together to detect and analyze the execution status parameter of the components, then create fault information table. Diagnose and evaluate component fault, recover or isolate fault components, realize software platform component fault management from system frame. The results show that the scheme can improve fault diagnosis precision, and accelerate speed of component recover or isolation, which can provide reference for research and development of defect management on intelligent robot.