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This paper describes the application of component-based software engineering concepts to the development of a C++ software library for multi-threaded robot control. The components in this design are tasks; each task encapsulates a thread and contains a state table and message queues for efficient thread-safe data exchange. A task can provide multiple interfaces, which is useful when the underlying...
Robots are increasingly being used in computer integrated surgery (CIS) systems, yet to our knowledge, there is no open source software that is specifically targeted at this application domain. In this paper, we derive unique requirements for medical robot controllers that are based on our experiences in the field. We present an overview of the second-generation open source software package (the cisst...
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