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

Abstract

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

Service Robotics within the Digital Home

“…Some frameworks exploit the features of CORBA for telerobotic systems, whereas some applications may be based on the manipulation of complex systems remotely (Bottazzi et al 2002). CORBA is commonly used in telecommunication robots in real time as well as to keep track on them.…”

Integration of Service Robots in the Smart Home

“…Some frameworks exploit the features of CORBA for telerobotic systems, whereas some applications may be based on the manipulation of complex systems remotely [15]. CORBA is commonly used in telecommunication robots in real time as well as to keep track on them.…”

Implementation of an Intelligent Robotized GMAW Welding Cell, Part 1: Design and Simulation

“…which leads to the distributed computation and the increase of new developments like teleoperation of robots. In (Bottazzi et al, 2002), it is described a software development of a distributed robotic system, using CORBA as middleware. The system permits the development of Client-Server application with multi thread supporting concurrent actions.…”