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

Computer Engineering and Applications ›› 2007, Vol. 43 ›› Issue (25): 192-196.

• 工程与应用 • Previous Articles Next Articles

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

SONG Hong-jun，ZHOU Feng-yu，LI Yi-bin，JIA Lei

Shandong University，Ji’nan 250061，China

Received:1900-01-01 Revised:1900-01-01 Online:2007-09-01 Published:2007-09-01
Contact: SONG Hong-jun

基于CORBA的工业机器人软件框架的研究和应用

宋洪军，周风余，李贻斌，贾磊

山东大学控制学院，济南 250061

通讯作者: 宋洪军

Abstract

Abstract: It is to develop an extensible，scalable and portable software framework for train maintenance using industrial robots.The core is middleware using C++ CORBA，it expatiates at length on the framework’s design and implementaion，the testbed includes two Motoman UP6 manipulators and one Pioneer mobile robot，the framework employs two-tier server.System’s CORBA IDL are described and explained.Finally，concluding remarks for future works are given.

Key words: middleware, CORBA, industrial robot, train maintenance

摘要： 在国内首次使用中间件技术，面向机车维护机器人生产线，设计开发可扩展，可升级和可移植的软件应用框架。软件框架的核心是C++ CORBA。试验环境包括2台Motoman UP6机械手和一台Pioneer移动机器人。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。结论部分规划了今后的研究工作。

关键词: 中间件, CORBA, 工业机器人, 机车维护

SONG Hong-jun，ZHOU Feng-yu，LI Yi-bin，JIA Lei. Research and application of CORBA-based software framework for industrial robot[J]. Computer Engineering and Applications, 2007, 43(25): 192-196.

宋洪军，周风余，李贻斌，贾磊. 基于CORBA的工业机器人软件框架的研究和应用[J]. 计算机工程与应用, 2007, 43(25): 192-196.

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

基于CORBA的工业机器人软件框架的研究和应用

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