Is appropriate to use QSM in robotic arm control?

[Lin yung-hsiang]

I use crio-9014 with 6 of NI9505 module to control RM-501 robotic arm.

but i have some problem to design suitable architecture:

1.Some component need synchronous.

2.Need to store configure,it can change online.

3.If possible, improve control rate.

4.Some of Data is needed for many component.(Joint Position, Joint Velocity, Cartesian Position, Cartesian Velocity)

I decide to use QSM in this application,is this good choice?  

 

Edited July 10, 2017 by Lin yung-hsiang
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[infinitenothing]

Maybe draw a system diagram. Possibly some state diagrams if applicable. A queued state machine is probably a good choice for some of your loops.

[ShaunR]

19 hours ago, Lin yung-hsiang said:

I use crio-9014 with 6 of NI9505 module to control RM-501 robotic arm.

but i have some problem to design suitable architecture:

1.Some component need synchronous.

2.Need to store configure,it can change online.

3.If possible, improve control rate.

4.Some of Data is needed for many component.(Joint Position, Joint Velocity, Cartesian Position, Cartesian Velocity)

I decide to use QSM in this application,is this good choice?  

 

Don't pick one and force everything into it. Partition your software (messaging, state machines, sequential operations, UI, configuration etc) and decide on a scheme for each one. Some will fit with QSM, others will not (broadcasting changes, for example) use messaging to bridge the gap. You may end up with multiple QSMs for a number of sub systems. There is not "One Architecture To Rule Them all" even within an program. If it is a small application then you might find "most" of it will fit with a QSM but until you break it down, you will not know.

Edited June 1, 2017 by ShaunR

[Lin yung-hsiang]

Result

This Link is my robotic arm project  achievement