An RTM Based Distributed Simulation System for Guide Robot

Author

Chen Peihua ; Cao Qixin ; Yang Yang ; Leng Chuntao

Author_Institution

Res. Inst. of Robot., Shanghai Jiao Tong Univ., Shanghai, China

fYear

2013

fDate

29-30 June 2013

Firstpage

185

Lastpage

189

Abstract

A distributed simulation system was developed in this paper to enhance the robot system integration and development for guide robot via using RTM (Robot Technology Middleware) technology, which is an open software platform for robot systems. The RT (robot technology) system of an adapter, a controller and the robot, together with other CORBA objects was developed to connect the graphical programming interface with the 3D simulator to set up a network based simulation system. Simultaneously, the application of the distributed simulation system also confirms the controlling of the real robot utilizing the RT system. RT-Middleware can obviously accelerate the software component development and the system integration, which of course will lower the cost of the development of new robot application systems.

Keywords

control engineering computing; middleware; object-oriented programming; public domain software; robot programming; visual programming; 3D simulator; CORBA objects; RT-middleware; RTM; adapter; controller; distributed simulation system; graphical programming interface; guide robot; network based simulation system; open software platform; robot application systems; robot system development; robot system integration; robot technology middleware technology; software component development; Automation; Manufacturing; RT Component; RTM; distributed simulation system; graphical programming;

fLanguage

English

Publisher

ieee

Conference_Titel

Digital Manufacturing and Automation (ICDMA), 2013 Fourth International Conference on

Conference_Location

Qingdao

Type

conf

DOI

10.1109/ICDMA.2013.43

Filename

6597962