AMIGOs movements and decision making is controlled by ROS (Robot Operating System). Worldwide ROS is used within many research projects. Therefore a large number of software packages is already available for different parts of the software (Navigation, Vision, Motion, etc). Using open source code that is freely available, significantly speeds up the development of AMIGO. Three mini PC’s with Intel Core i5 processors provide the required computational power to execute the software.
The three PC’s, mounted on the base platform, communicate with sensors and actuators via a Beckhoff EtherCAT stack. This stack is connected to the PC’s with an Ethernet cable and contains analogous as well as digital in- and outputs.