Using MATLAB for hardware-in-the-loop prototyping #1 : Message Passing Systems

MATLAB© is a programming language and environment designed for scientific computing. It is one of the best languages for developing robot control algorithms and is widely used in the research community. While it is often thought of as an offline programming language, there are several ways to interface with it to control robotic hardware 'in the loop'. As part of our own development we surve…

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Analyzing the viability of Ethernet and UDP for robot control

Ethernet is the most pervasive communication standard in the world. However, it is often dismissed for robotics applications because of its presumed non-deterministic behavior. In this article, we show that in practice Ethernet can be made to be extremely deterministic and provide a flexible and reliable solution for robot communication. The network topologies and traffic patterns used to control…

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A Practical Look at Latency in Robotics : The Importance of Metrics and Operating Systems

This is the first in a series of blog posts where I will try to share some of my own impressions and findings that have stemmed from several years of creating tools for robotics research. Latency is an important practical concern in the robotics world that is often poorly understood. I feel that a better understanding of latency can help robotics researchers and engineers make design and architec…

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