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| TRS Explained Part 1 |
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What is the Trossen Robotics System? |
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Let's start with what the TRS is NOT. The TRS is not a development environment. The TRS does not depend upon any certain language, operating platform, or hardware. The TRS is best thought of as a set of tools which allows developers to create robotics applications in their environment of choice. The TRS tools are based upon an open standard which allows for interoperability between users and systems.
Major components:
There are four major software components which will be used in any project using the Trossen Robotics System. These four parts are the major "organs" needed to perform basic operation. Below are brief overviews of each component. More in-depth descriptions will be in the later sections.
TROM: The Trossen Robotics Object Model is a live instance of the robot used during runtime as a container for storing and retrieving all of the robot's data. It is an object orientated container which can be thought of as a "home base" where everything is stored. It is a replica of the actual robot storing it's dimensions, joint limitations, motor, sensor, and controller information.
Sensor & Controller Libraries: These two libraries are in charge of communicating between the TROM and the bridgeware API's. They handle the necessary translations and updating necessary for sensor reading and motor control. These two libraries remove the need for developers to interact with the controllers directly which cuts out an entire layer of work. For instance, a developer can simply update a joint angle in the TROM and all of the communication with the motors inside that joint are taken care of for them. Likewise, new sensor data is automatically updated to the proper place in the TROM by the sensor library.
Algorithm Libraries: Algorithm Libraries are used to perform the complex calculations necessary for robotic movement. The Libraries receive a request for a certain movement such as a new arm position or gate, retrieve the necessary dimensions data from the TROM, and return arrays of data as angle positions. The algorithm libraries NEVER updates the TROM or sends out motion commands on it's own. That is the job of the developer's code to be in control of. The algorithm libraries merely serve as computational assistants to the developer.
Device API's: These are the drivers and API's which come with the hardware used to build the robot. (I/O boards, sensors, and controllers) In truth the API's sit outside of the TRS, but are necessary to mention because the TRS cannot work without them.
Secondary/Optional Components:
Robotics projects can be further developed with 3rd party tools such as vision recognition software, voice recognition Software, rendering tools, navigation modules and more.
Now let's look at some of the features and benefits of the TRS next.
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