Distributed robot control system implemented on the client and server PCs based on the CORBA protocol

This paper presents distributed real-time robot control system implemented on the client and server modules. The client module is used to control the real robot and send commands to the server module. An application on the server side receives the commands that contain positions of robot joints read from encoders, displays current robot coordinates and 3D robot motions through virtual model of a real robot. That way, it is possible to monitor robot coordinates and motions. The client and server modules can communicate locally or remotely using CORBA (Common Object Request Broker Architecture) protocol.