Trossen Robotics: educational robot kits - robot parts - robot sensors

Robot Object Model

The Robot Object Model (ROM) is a Library which gives developers the ability to easily assemble and manage a hierarchical robot object for use in various applications.

The ROM uses an XML configuration file for storing a robots static data. The XML file is read at startup by the ROM to construct the Robot Object in memory for use during run time. The XML file provides the actual "blueprint" of the robot storing structural information such as dimensions, joint/motor movements, and controller serials numbers.

During runtime the ROM is also in charge of storing the "live" data being used. Live data is the data which is constantly changing from moment to moment. Data such as input from a robots various sensors and output to an array of motor controllers.

The ROM can be imagined as the central hub or storehouse at the center of all the action since all the other components need to interact with it to get their jobs done. The TR Rendering tool, TR algorithm library, and the code a developer writes are all getting data from or storing data in the ROM.

Robot Object Model