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 technologies to convert user command into realtime 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.

The workflow is fairly simple:

• Select a robot controller and robot model
• To use the trajectory control mode:
  • Send a list of waypoints to the generator
  • Check the generation result
  • Check the trajectory state section of the system state
  • If successful, send actions (play, pause, rewind...)
  • If unsuccessful, check the logs to see what went wrong and update the inputs
• To use the jogging control mode:
  • Switch to the jogging control mode (note that the system will go back to idle after 5s of inactivity)
  • Send jogging commands (note that the robot will decelerate if no commands is received in 100ms)