The technological developments in distributed systems have led to new telerobotic applications, such as virtual laboratories and remote maintenance of complex equipment. These applications must satisfy both the general requirements of distributed computing, e.g. location transparency and interoperability, and the domain-specific requirements of reconfigurability, guaranteed performance, real-time operation, and cooperation among robots and sensory systems. In this paper, we describe a software framework for distributed telerobotic systems exploiting advanced CORBA features, including Asynchronous Method Invocation and real-time priorities. The framework allows development of portable multithreaded client-server applications supporting concurrent and preemptable actions in the target robot system, and has been evaluated in a laboratory setup including a robot manipulator and two cameras accessible by multiple clients.
A Software Framework based on Real-Time CORBA for Telerobotic Systems / Bottazzi, S.; Caselli, Stefano; Reggiani, M.; Amoretti, Michele. - 3:(2002), pp. 3011-3017. (Intervento presentato al convegno IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2002) tenutosi a Lausanne, Switzerland nel Sept. 30-Oct. 4 2002) [10.1109/IRDS.2002.1041730].
A Software Framework based on Real-Time CORBA for Telerobotic Systems
CASELLI, Stefano;AMORETTI, Michele
2002-01-01
Abstract
The technological developments in distributed systems have led to new telerobotic applications, such as virtual laboratories and remote maintenance of complex equipment. These applications must satisfy both the general requirements of distributed computing, e.g. location transparency and interoperability, and the domain-specific requirements of reconfigurability, guaranteed performance, real-time operation, and cooperation among robots and sensory systems. In this paper, we describe a software framework for distributed telerobotic systems exploiting advanced CORBA features, including Asynchronous Method Invocation and real-time priorities. The framework allows development of portable multithreaded client-server applications supporting concurrent and preemptable actions in the target robot system, and has been evaluated in a laboratory setup including a robot manipulator and two cameras accessible by multiple clients.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
