2A1-C09 CORBAを用いた多言語間ロボット制御プラットフォームの開発

概要

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It is well known that CORBA is a novel programming architecture and technical specifications for constructing object-oriented network systems, which is based on vendor-independent architecture and infrastructure that computer applications use to work together over networks. This study presents a new network control system for robots, in which multi clients can access simultaneously to a single server machine that implements a robot system. This CORBA-based robot control system has a potential to realize a completely-parallel processing system such as human control system. This paper firstly elaborates on characteristics and specifications of the CORBA, and indicates the necessity for the object-oriented network computing technology. Consequently, this paper shows how to make a code for programming remote-robotic control systems on the basis of the CORBA object-oriented architecture. Finally, we demonstrate that control commands that simultaneously sent from multi clients can easily refer to remote functions placed on the server without using Socket programming that is generally based on the low-level network applications.
2009-05-25