Fuzzy RTOS

Fuzzy RTOS transforms the way we develop robotic applications. NO generation brand-specific robot programs anymore, only one generic high-level interface. Fuzzy RTOS uses the power of the industry-trusted MQTT and REST techonolgies to convert user command into relatime low-level robot control.

Fuzzy RTOS is an executable designed to act as an interface between robot controllers and user systems. It can be used on embedded systems with a real-time OS for actual robot control or on any system for testing purposes. The software contains drivers, which are responsible for sending commands to a robotic system with strict time constraints of typically a few milliseconds. Two drivers are always loaded symmetrically: one dummy driver that simulates a robot that is always going to be at its requested setpoint, and another driver that is often used to control a real system but can also be a dummy driver. Operating Modes There are three main modes of operation:

• Standby:
  • Can change the tool
  • Can transition to the trajectory mode after loading a list of waypoints
  • Can transition to the jogging mode
• Jogging mode:
  • Can execute jogging commands
  • Will decelerate if no command has been received during a time frame (currently 100ms)
  • Will automatically pass into standby mode after 5s without command received
  • Can transition to the standby mode with a stop action (hard stop)
• Trajectory mode:
  • Can execute trajectory commands (play, pause, rewind...)
  • Can transition to the jogging mode if the trajectory is not being played
  • Can transition to the standby mode with a stop action (hard stop)