RT-Component Object Model in RT-Middleware—Distributed Component Middleware for RT (Robot Technology)

摘要

This paper proposes RT-Component object model in 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 is a software infrastructure for RT systems. We have studied modularization of RT elements at software level. For that reason, RT-Middleware, which promotes application of RT in various field, have been developed. Robotic system development methodology and our RT-Middleware concepts will be discussed. RT-Component, which is a basic software unit of RT-Middleware based systemintegration, is derived from that discussion. Next, the object model and the interface definition of RT-Component architecture will be discussed. Finally conclusion and future work will be described.