Software architecture for a robot teleoperation system

被引：0

作者：

Alonso, A ^{[1
]}

Alvarez, B ^{[1
]}

Pastor, JA ^{[1
]}

de la Puente, JA ^{[1
]}

Iborra, A ^{[1
]}

机构：

[1] Univ Politecn Madrid, Dept Ingn Sistemas Telemat, E-28040 Madrid, Spain

来源：

ALGORITHMS AND ARCHITECTURES FOR REAL-TIME CONTROL 1997 | 1997年

关键词：

software architecture; robots control; real-time systems; teleoperation; software engineering;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The success of certain applications heavily depends on its capability to be modified and adapted to different operations and environments. This paper presents the main issues in the development of a robot teleoperation system whose main goal is to operate a robot that performs maintenance activities in nuclear plants. The capability to adapt its operation to different jobs and operational environments is one of the most important requirements. The approach taken is based on the development of a generic software architecture for this kind of systems. A domain analysis was perfomed for identifying the most commonly used components in these applications. The resulting architecture was implemented integrating code written in different languages (Ada and C) and commercial tools. The resulting architecture has been successfully tested. The robot controller (which is the most important subsystem) has been reused for implementing specialized mechanical robot tools.

引用

页码：319 / 324

页数：6