|
Programming errors represent a serious safety consideration, particularly in large industrial robots. The power and size of industrial robots mean they are capable of inflicting severe injury if programmed incorrectly or used in an unsafe manner. Due to the mass and high-speeds of industrial robots, it is always unsafe for a human to remain in the work area of the robot during automatic operation. The system can begin motion at unexpected times and a human will be unable to react quickly enough in many situations, even if prepared to do so. Thus, even if the software is free of programming errors, great care must be taken to make an industrial robot safe for human workers or human interaction, such as loading or unloading parts, clearing a part jam, or performing maintenance. The ''ANSI/RIA R15.06-1999 American National Standard for Industrial Robots and Robot Systems - Safety Requirements (revision of ANSI/RIA R15.06-1992)'' book from the Robotic Industries Association is the accepted standard on robot safety. This includes guidelines for both the design of industrial robots, and the implementation or integration and use of industrial robots on the factory floor. Numerous safety concepts such as safety controllers, maximum speed during a teach mode, and use of physical barriers are covered.
==Robotics software projects==
{{advert|date=December 2010}}
{{See also|Open-source robotics}}
The following is a list of open source and free software for robotics projects.
* [https://claraty.jpl.nasa.gov/ CLARAty] - Coupled-Layer Architecture for Robotic Autonomy. It is a collaborative effort among four institutions: NASA Jet Propulsion Laboratory, NASA Ames Research Center, Carnegie Mellon, and the University of Minnesota.
* [http://users.dickinson.edu/~braught/dlife dLife] - Free/Open Source Java library for Robotics, AI and Vision. Supports Pioneer, Khepera II & II, Hemission, Aibo and Finch robots as well as Player/Stage simulations.
* [http://miarn.sf.net Experimental Robotics Framework] - A software for making experiments with multiple robots in 3d, with support for the latest technologies, that sits on top of Player/Stage and Open/CV.
* [http://marie.sf.net MARIE] - Mobile and Autonomous Robotics Integration Environment - is a [[Free Software]] using a [[Software componentry|component-based approach]] to build robotics software systems by integrating previously existing and new software components.
* [http://msdn.microsoft.com/en-us/robotics/aa731517/ Microsoft] - Microsoft Robotics Developer Studio
* [http://openrdk.sf.net OpenRDK] - An open-source software framework for robotics for developing loosely coupled modules. It provides transparent concurrency management, inter-process (via sockets) and intra-process (via shared memory) blackboard-based communication and a linking technique that allows for input/output data ports conceptual system design. Modules for connecting to simulators and generic robot drivers are provided.
* [[OpenRTM-aist]] - a software platform developed on the basis of the [[RT middleware]] standard. It is developed by National Institute of Advanced Industrial Science and Technology in Japan.
* [http://www.orocos.org OROCOS] - the Open Robot Control Software project provides a Free Software toolkit for [[Real-time computing|realtime]] robot arm and [[machine tool]] control.
* [http://www.opros.or.kr OPRoS] - Open Platform Robotic Services is an open source project for robot development. It provides a solution including robot platform and GUI developing tools with the source code of robot device components.
* [https://www.robodk.com/ RoboDK] - A robot development kit platform to simulate industrial robots. RoboDK allows you to program any robot using [https://www.python.org/ Python] and handles brand-specific syntax depending on your robot controller.
* [http://www.roboticslibrary.org/ Robotics Library] is an open-source C++ library covering kinematics, planning, visualization, and hardware drivers for several robots.
* [[Robotics Toolbox for MATLAB]] - this is [[Free Software]] that provides functionality for representing pose (homogeneous transformations, Euler and RPY angles, quaternions), arm robots (forward/inverse kinematics and dynamics) and mobile robots (control, localisation and planning)
* [http://rossum.sourceforge.net/ Rossum Project], G.W. Lucas,open-source robotics project .
* [[Player/Stage Project]] - A very popular [[Free Software]] robot interface and simulation system, used for robotics research and teaching worldwide.
* [http://pyrorobotics.com/ Pyro, Python Robotics] - Popular robotics [[Free Software]] used in universities and colleges.
* [http://www.robomind.net RoboMind] - Educational software to learn the basics of robotics and programming.
* [[Robot Operating System]] - Robot Operating System is an open-source platform for robot programming using Python and C++. Java, Lisp, Lua and [http://car.mines-douai.fr/category/pharos/ Pharo] are supported but still in experimental stage.
* [http://www.inl.gov/adaptiverobotics/robotintelligencekernel/index.shtml Robot Intelligence Kernel ]
===Off-line Programming===
*[[Visual Components]] is a commercial 3D [[discrete event simulation]] software that enables [[material flow]] and robotics simulation on one platform. The functionality can be extended with [[Off-line programming (robotics)|off-line programming]] capabilities and [[Programmable logic controller|PLC]] connectivity.
* "''The Basics - [http://www.seattlerobotics.org/encoder/aug97/basics.html Robot Software]''". Seattle Robotics Society.
* "''[http://www-static.cc.gatech.edu/ai/robot-lab/MARS/ Mobile Autonomous Robot Software]'' (MARS)". [[Georgia Tech Research Corporation]].
* "''[http://robot.spawar.navy.mil/home.asp?item=robotsoftware Tech Database]''". robot.spawar.navy.mil.
* [http://www.inl.gov/adaptiverobotics Adaptive Robotics Software at the Idaho National Laboratory]
===On-line Control===
*[[Energid Technologies]] develops and sells the [[Actin_(software)|Actin SDK]] which is a robotics toolkit, optimization engine, and constraint-management system written in C++ that uses Jacobian-based kinematics to optimize performance over all types of robots. Since Actin is sold as an [[Software_development_kit|SDK]], it can be white labeled or OEMed into other robot control software packages. This approach allows users to develop control of a known system in an offline mode through a GUI and then let Actin handle the high-level online control to stream constantly updated joint-level commands to the robot/controller in real time to avoid collisions by adapting to sensed environmental changes.
==See also==
| 