A generic software platform for controlling collaborative robotic system using XML-RPC

This paper describes a software platform used for controlling any set of collaborative robots. The platform is specially designed for users without special skills on hardware design or communication topics. The platform provides a standard to simplify the addition of new hardware devices. The system runs over Linux operating system; it is accessible through different programming languages. Calls among architecture processes are performed using XML-RPC. Data transport is TCP-IP based; therefore the system is accessible from a conventional Internet link. Some experiments are performed in order to detect the programming languages that better fit in the architecture and the better web server for operating. It was found that php, in comparison with C language, reduces more than three times the speed of call processing, and more that seven times in comparison with c-sharp language (MONO implementation). Using CGI to access an Apache server is twice faster than using s standalone server