Background

With the rapid advancement of robotics technology, various manufacturers have been developing and releasing robots with unique protocols and interfaces. These robots often use proprietary communication methods, which complicates the integration and operation of multiple robot brands within a single system. This integration process can be time-consuming and costly, as the lack of standardized systems leads to interoperability issues, ultimately reducing productivity and efficiency. To solve these challenges, MintRobot developed the "TERMINAL" middleware library.

What is the

Robot Middleware?

Robot Control Middleware is a tool that unifies and manages the non-standardized control interfaces of individual robots provided by various manufacturers into a single, consistent system. This technology efficiently handles the different protocols of various robots, enabling users to easily control multiple robots within a unified platform.

Different Protocols by Manufacturer :

All robots provide protocols for external connections to interact with other systems.

These protocols are not standardized, and each manufacturer uses different communication methods and data structures, making it very complex to integrate and control multiple robots within a single system.

If users were to implement all these protocols individually, the process would not only be technically challenging but also require substantial effort for maintenance, inevitably consuming significant time and costs.

Providing a Consistent Interface :

Robot middleware categorizes control functions and provides a single protocol, allowing various robots to be consistently controlled within a unified system.

Users can utilize robot functions without worrying about individual robot protocols, as the middleware handles the complexity of communication methods and data structures.

Regardless of the type of robot, there is no need to change the software logic, enabling users to flexibly and efficiently operate robots from various manufacturers without dependency on a specific vendor.

Why Robot Middleware is

Necessary?

To effectively integrate and manage multiple robots from different manufacturers, a consistent and unified control system is essential. Without middleware, the process is complex and costly, whereas middleware simplifies integration, reduces costs, and enhances scalability.

Different Protocols by Manufacturer

PC-based integrated control architecture with robot middleware

With Middleware

Without Middleware

Integration
Complexity

Simplified integration
with a unified system.

High complexity due to
different robot protocols.

Development
Costs

Lower costs with
a single protocol.

High costs from implementing
individual protocols.

Management

Easy and efficient
management.

Difficult and time-
consuming to manage.

Expansion

Scalable and
flexible expansion.

Challenging and slow
to scale the system.

Software
Maintenance

Flexible and cost-effective
software updates and maintenance.

Complex and costly
updates and maintenance.

Features

Structure of TERMINAL

Mintrobot's middleware technology is portable software library that allows for the consistent control of ready-made, customized, and simulation robots. The key structural features of this technology are as follows.

Interface Layer

Protocol Server

Manages the protocols needed for communication with various robots, ensuring that each robot's unique protocol is standardized within TERMINAL.

Frontend (GUI) Web Server

Provides a user-friendly interface, allowing users to easily configure and control robots via a web-based GUI.

Core Layer
(Control Interface Layer)

The Core Layer is the heart of TERMINAL, where efficient robot control is achieved through In-Memory Processing. This ensures that TERMINAL's control functions operate quickly and consistently. The core layer is comprised of the following key components.

Communication Library

Supports communication with various robots by including libraries for manufacturers like Universal Robots, TM Robotics, and MiR.

Control Function Library

Contains libraries that manage essential robot functions such as motion control, SLAM, and navigation.

O/S Kernel and Device Drivers

The O/S Kernel and Device Drivers play a critical role in TERMINAL’s operation, managing basic system functions and facilitating interaction with the underlying hardware. This layer ensures stable and reliable operation across the robot system.

Network
Connectivity

Ready-made Robot Platform Products

TERMINAL connects with various ready-made robot platforms from different manufacturers through a network, enabling integrated control of multiple robots.

Simulation and Customized Robots

TERMINAL also connects with simulation and customized robots (e.g., motors, sensors) via the network, providing unified control and efficient management across diverse robotic systems.

Workflow of TERMINAL

The operational workflow of TERMINAL outlines the steps users take to effectively configure, program, and control robots within the system. TERMINAL offers a streamlined process that simplifies robot management, from initial setup to real-time control, ensuring that users can optimize their robotic operations with ease.

(1) System Configuration

The first step in using TERMINAL is system configuration. This involves completing the basic settings related to the robots to ensure that they are properly initialized and ready for operation.

(2) Pre-programming and Calling via GUI

Users can leverage TERMINAL's graphical user interface (GUI) to pre-program the robot's actions. This step involves setting up the robot's behavior in advance, using traditional methods to define necessary movements and tasks. Key functions include.

Jogging

Testing and adjusting the robot's movements before execution.

Save locations, teach path

Saving the paths and locations the robot will follow and instructing it accordingly.

Save pose, teach motions

Storing specific positions and teaching the robot corresponding movements.

Additional features

Includes various other pre-programming functions.

(3) Direct Control Function Calls

In addition to pre-programmed actions, users can directly call control functions through TERMINAL. This allows for advanced capabilities such as.

Collaborative control functions

Supporting coordinated control among multiple robots.

Continuous status monitoring

Real-time monitoring of the robot's status to ensure optimal performance.

Additional features

Includes advanced functions such as real-time adjustments, error recovery, and customized sequences.

Benefits of TERMINAL

TERMINAL provides several significant benefits that make it a superior choice for managing and controlling diverse robotic systems. Below are the key advantages that TERMINAL offers:

API Standardization through Class Abstraction

Class Abstraction for Increased Flexibility

TERMINAL simplifies robot system construction by standardizing APIs through class abstraction, allowing seamless integration of various robots and devices from different manufacturers, without being limited by proprietary systems.

Enhanced Stability and Cost Efficiency

By ensuring smooth interaction between system components through a unified interface, TERMINAL reduces the time and costs associated with system integration, expansion, and maintenance. This consistency ensures long-term stability and sustainability, even when external conditions change.

Scalable and Efficient Network-Based System Expansion

Reliable Networking and Scalability

TERMINAL’s network-based middleware, leveraging TCP/IP protocols, allows for fast, smooth communication across devices. This ensures scalable integration with other ICT solutions like cloud computing and IoT, without major disruptions.

Optimized Communication for User Convenience

High-speed communication protocols enable quick data transmission and unrestricted system access, enhancing user convenience and overall system optimization, minimizing downtime, and maximizing productivity.

Consistent Control and Reliable Management

TERMINAL ensures consistent control across various robot systems, enabling effective management and operation.

Hierarchical Control APIs for Structured Management

TERMINAL provides hierarchical APIs that support structured and efficient robot control, simplifying the management of complex robotic systems.

Uniform Control Across Multiple Robots

Consistent control APIs across different robots reduce the need for constant adjustments, minimizing errors, and enhancing overall system reliability, which is crucial for maintaining high operational standards.

Comparison

TERMINAL vs.
ROS/ROS2 Key
Differences

When selecting middleware for robot control, efficiency and maintenance are key considerations. TERMINAL, compared to ROS/ROS2, offers a simpler, more efficient communication structure, leading to significant benefits in resource use and maintenance. With support for hierarchical APIs, TERMINAL is especially suited for commercial applications. The table below highlights the key differences between TERMINAL and ROS/ROS2.

TERINAL

ROS / ROS2

TERMINAL

ROS/ROS2

System
Structure

A single executable is
written entirely in Python.

Executable components in different
programming languages.

Characteristics

Software library providing refined
control functions and interfaces.

An open platform for experimenting
with various control functions.

Main Purpose

Commercial-focused.

Research-focused.

Communication
Method

IPC-PIPE and Shared Memory,
faster communication.

Network-based middleware
(TCPROS, DDS).

Network Traffic
and Speed

Low traffic,
faster speed.

High traffic,
slower speed.

Hierarchical
Control APIs

Available for efficient control.

Not available.

Consistency of
Control APIs

Consistent across
various robots.

Inconsistent for
different robots.

Conclusion

In summary, TERMINAL provides a more streamlined and efficient solution for robot control compared to ROS/ROS2, particularly in commercial applications. Its simplified structure, enhanced communication efficiency, and consistent control APIs make it an ideal choice for managing diverse robotic systems with minimal resource consumption and maintenance efforts. TERMINAL is not only a robust tool for today’s needs but also scalable and adaptable for future technological advancements.