A software framework based on real-time CORBA for telerobotic systems

被引：0
|
作者：
Bottazzi, S [1 ]
Caselli, S [1 ]
Reggiani, M [1 ]
Amoretti, M [1 ]
机构：
[1] Univ Parma, Dipartimento Ingn Informaz, Robot & Intelligent Machines Lab, RIMLab, I-43100 Parma, Italy
来源：
2002 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-3, PROCEEDINGS | 2002年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The technological developments in distributed systems have led to new telerobotic applications, such as virtual laboratories and remote maintenance of complex equipment. These applications must satisfy both the general requirements of distributed computing, e.g. location transparency and interoperability, and the domain-specific requirements of reconfigurability, guaranteed performance, real-time operation, and cooperation among robots and sensory systems. In this paper, we describe a software framework for distributed telerobotic systems exploiting advanced CORBA features, including Asynchronous Method Invocation and real-time priorities. The framework allows development of portable multithreaded client-server applications supporting concurrent and preemptable actions in the target robot system, and has been evaluated in a laboratory setup including a robot manipulator and two cameras accessible by multiple clients.
引用
收藏
页码：3011 / 3017
页数：7
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