基于中间件的工业机器人软件框架的研究和应用

Research and application of middleware-based software framework for industrial robot

在国内首次使用中间件技术,面向机车维护工业机器人,设计开发可扩展、升级和移植的软件应用框架。详细介绍了软件框架的设计和实现,包括采用两层结构实现服务器、框架的技术指标、系统CORBA IDL的具体设计和定义。最后规划了今后的研究工作。

This paper developed an extensible, scalable and portable software framework for train maintenance using industrial robots. The core was middleware by C ＋ ＋ CORBA, it expatiated at length on the framework＇ s design and implementaion, the testbed included two Motoman UP6 manipulators and one Pioneer mobile robot, the framework employed two-tier server. Described and explained the system＇ s CORBA IDL. Finally, gave the concluding remarks for future works.