Implementation of a PC-based Robot Controller with Open Architecture

摘要

The demand for increased capability and flexibility has led to a dramatic increase in the use of controllers based on open architecture. Knowledge from past research on open architecture system indicates that a component-based philosophy should be the solution. In this paper, a PC-based open architecture robot control system is presented and the technologies related to component-ware are investigated. By assembling controller from off-the-shell hardware and software components, the benefits of reduced cost and improved robustness have been realized. CORBA is exploited in software development to ensure the extensibility, scalability and portability of the software. Finally, by applying to the Movemaster-EX robot, the performance of the system is evaluated.