MiRPA: A middleware for open robot control systems

被引：0
|
作者：
Finkemeyer, B. [1 ]
Borchard, M. [1 ]
机构：
[1] TU Braunschweig
来源：
VDI Berichte | 2002年 / 1679期
关键词：
Automation - Control systems - Distributed computer systems - Process control - Real time systems;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
The realisation of modular and distributed software systems can be simplified by using a middleware. As commercial middleware solutions do not meet hard real-time requirements, their usage has been limited in control applications in the past. This paper presents the new middleware MiRPA (Middleware for Robotic and Process Control Applications). Especially it has been designed for meeting demands in robotic and automation applications. With MiRPA it is possible to design very modular and open robot control systems. With the example of a robot control system, the usage and functionality of MiRPA is explained. Also technical details, e.g. implemented mechanism to avoid deadlocks and aspects of real-time, will be discussed.
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页码：225 / 230
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