A CORBA Wrapper for Applications with Multiple Robots

Authors

  • Isidro Calvo UPV/EHU
  • Itziar Cabanes UPV/EHU
  • Ismael Etxeberria Agiriano UPV/EHU
  • Guillermo Sanchez
  • Ekaitz Zulueta UPV/EHU

DOI:

https://doi.org/10.3991/ijoe.v7i4.1724

Keywords:

CORBA, middleware, Real time systems, Robot applications.

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.

Author Biographies

Isidro Calvo, UPV/EHU

Dept. Systems Engineering and Automatic Control University College of Engineering of Vitoria-Gasteiz

Itziar Cabanes, UPV/EHU

Dept. Systems Engineering and Automatic Control Faculty of Engineering of Bilbao

Ismael Etxeberria Agiriano, UPV/EHU

Department of Computer Languages and Systems, University College of Engineering of Vitoria-Gasteiz

Ekaitz Zulueta, UPV/EHU

Dept. Systems Engineering and Automatic Control University College of Engineering of Vitoria-Gasteiz

Downloads

Published

2011-11-10

How to Cite

Calvo, I., Cabanes, I., Etxeberria Agiriano, I., Sanchez, G., & Zulueta, E. (2011). A CORBA Wrapper for Applications with Multiple Robots. International Journal of Online and Biomedical Engineering (iJOE), 7(4), pp. 4–9. https://doi.org/10.3991/ijoe.v7i4.1724

Issue

Vol. 7 No. 4 (2011)

Section

Papers

License

The submitting author warrants that the submission is original and that she/he is the author of the submission together with the named co-authors; to the extend the submission incorporates text passages, figures, data or other material from the work of others, the submitting author has obtained any necessary permission.
Articles in this journal are published under the Creative Commons Attribution Licence (CC-BY What does this mean?). This is to get more legal certainty about what readers can do with published articles, and thus a wider dissemination and archiving, which in turn makes publishing with this journal more valuable for you, the authors.
By submitting an article the author grants to this journal the non-exclusive right to publish it. The author retains the copyright and the publishing rights for his article without any restrictions.