Design and Prototype of Reusable Software Library for Controlling Space Robots

摘要

While the role on space robot becomes more important (e.g. construction of LSS), it is difficult to develop reusable software to control space robot with conventional development approach. In this paper we propose a design pattern of reusable software library for controlling space robots. The features of this design pattern are as follows. - Architecture based on object-oriented method. - Multithreading. - Macro Commands which realize complex operation with simple instruction. Additionally, we have developed prototype software library for controlling space robots based on this design, and confirmed validity and reusability of the design.