An experience of a CORBA based architecture for computer integrated manufacturing

The main limitations of robotic workcell software design can be exposed in terms of rigidity and low levels of reusability, so temporal and economic costs related with software development are very high. We present a software architecture design with a layered structure. This architecture includes a middleware layer, which guarantees that decentralized control can be performed, which let us have a higher degree of flexibility. In order to prove the validity of this design, a set of components is being implemented in an industrial-like robotic workcell.