A CORBA Wrapper for Applications with Multiple Robots

International Association of Online Engineering

Isidro Calvo¹  Ismael Etxeberria Agiriano¹  Itziar Cabanes¹  Guillermo Sanchez¹ 

[1] UPV/EHU

关键词: CORBA;    middleware;    Real time systems;    Robot applications.;   

DOI  :  

学科分类：社会科学、人文和艺术（综合）

来源: International Association of Online Engineering

【 摘 要 】

This paper presents a CORBA wrapper which encapsulates a generic anthropomorphic industrial robot.Since this wrapper abstracts the communications, building applications that require remote manipulation or coordination of several devices may be easily achieved by using it. This article describes an implementation of this wrapper over a real-time operating system (RTOS), namely RTAI. This type of OS ensures determinism in the movement operations of the robot. Also, a low resource consuming implementation of the CORBA specification, namely ORBit, has been used to wrap the robot and implement the communications with other devices. Finally, as a matter of example, we present how this wrapper is used to coordinate the operation of several robots in a typical 'pick & place' operation.

【 授权许可】

Unknown