RT-Component Object Model in RT-Middleware - Distributed Component Middleware for RT (Robot Technology)

This paper proposes RT-component object model in RT-middleware for robot system integration. "RT" means "robot technology", which is applied not only to industrial field but also to nonindustrial field such as human daily life support systems. RT-middleware is a software infrastructure for RT systems. We have studied modularization of RT elements at software level. For that reason, RT-middleware, which promotes application of RT in various field, have been developed. Robotic system development methodology and our RT-middleware concepts was discussed. RT-component, which is a basic software unit of RT-middleware based system integration, is derived from that discussion. Next, the object model and the interface definition of RT-component architecture was discussed. Finally conclusion and future work are described