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A CORBA Wrapper for Applications with Multiple Robots.

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Title: A CORBA Wrapper for Applications with Multiple Robots.
Authors: Calvo, I.1 isidro.calvo@ehu.es, Cabanes, I.1 itziar.cabanes@ehu.es, Etxeberria-Agiriano, I.1 ismael.etxeberria@ehu.es, Sánchez, G.1, Zulueta, E.1 ekaitz.zulueta@ehu.es
Source: International Journal of Online Engineering. Nov2011, Vol. 7 Issue 4, p4-9. 6p.
Subjects: CORBA (Computer architecture), Industrial robots, Computer operating systems, Robot motion, Middleware, Computer science, Technical specifications
Abstract: This paper presents a CORBA wrapper which encapsulates a generic anthropomorphic industrial robot. Since this wrapper abstracts the communications, building applications that require remote manipulation or coordination of several devices may be easily achieved by using it. This article describes an implementation of this wrapper over a real-time operating system (RTOS), namely RTAI. This type of OS ensures determinism in the movement operations of the robot. Also, a low resource consuming implementation of the CORBA specification, namely ORBit, has been used to wrap the robot and implement the communications with other devices. Finally, as a matter of example, we present how this wrapper is used to coordinate the operation of several robots in a typical 'pick & place' operation. [ABSTRACT FROM AUTHOR]
Copyright of International Journal of Online Engineering is the property of International Journal of Online Engineering and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
Database: Engineering Source
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  Data: A CORBA Wrapper for Applications with Multiple Robots.
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  Data: <searchLink fieldCode="AR" term="%22Calvo%2C+I%2E%22">Calvo, I.</searchLink><relatesTo>1</relatesTo><i> isidro.calvo@ehu.es</i><br /><searchLink fieldCode="AR" term="%22Cabanes%2C+I%2E%22">Cabanes, I.</searchLink><relatesTo>1</relatesTo><i> itziar.cabanes@ehu.es</i><br /><searchLink fieldCode="AR" term="%22Etxeberria-Agiriano%2C+I%2E%22">Etxeberria-Agiriano, I.</searchLink><relatesTo>1</relatesTo><i> ismael.etxeberria@ehu.es</i><br /><searchLink fieldCode="AR" term="%22Sánchez%2C+G%2E%22">Sánchez, G.</searchLink><relatesTo>1</relatesTo><br /><searchLink fieldCode="AR" term="%22Zulueta%2C+E%2E%22">Zulueta, E.</searchLink><relatesTo>1</relatesTo><i> ekaitz.zulueta@ehu.es</i>
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  Data: <searchLink fieldCode="DE" term="%22CORBA+%28Computer+architecture%29%22">CORBA (Computer architecture)</searchLink><br /><searchLink fieldCode="DE" term="%22Industrial+robots%22">Industrial robots</searchLink><br /><searchLink fieldCode="DE" term="%22Computer+operating+systems%22">Computer operating systems</searchLink><br /><searchLink fieldCode="DE" term="%22Robot+motion%22">Robot motion</searchLink><br /><searchLink fieldCode="DE" term="%22Middleware%22">Middleware</searchLink><br /><searchLink fieldCode="DE" term="%22Computer+science%22">Computer science</searchLink><br /><searchLink fieldCode="DE" term="%22Technical+specifications%22">Technical specifications</searchLink>
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  Data: This paper presents a CORBA wrapper which encapsulates a generic anthropomorphic industrial robot. Since this wrapper abstracts the communications, building applications that require remote manipulation or coordination of several devices may be easily achieved by using it. This article describes an implementation of this wrapper over a real-time operating system (RTOS), namely RTAI. This type of OS ensures determinism in the movement operations of the robot. Also, a low resource consuming implementation of the CORBA specification, namely ORBit, has been used to wrap the robot and implement the communications with other devices. Finally, as a matter of example, we present how this wrapper is used to coordinate the operation of several robots in a typical 'pick & place' operation. [ABSTRACT FROM AUTHOR]
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  Data: <i>Copyright of International Journal of Online Engineering is the property of International Journal of Online Engineering and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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        Value: 10.3991/ijoe.v7i4.1724
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              Text: Nov2011
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