In this paper, we propose 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 which is proposed in this paper is a software platform for RT systems. We have studied modularization of RT elements and have developed RT-Middleware, which promotes application of RT in various field. Robotic system development methodology and our RT-Middleware concepts is discussed. The RT-Component, which is a basic software unit of RT-Middleware based system integration, is derived from this discussion. A methodology of system development by using RT-Components, and a framework for component development are proposed. Evaluations of some RT-Component based systems is performed. Finally conclusion and future work will be described.

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