An advanced control framework for a class of distributed real-time systems

This paper describes the design and development of a distributed robotic system. Each subsystem is built, tested separately and then integrated, using middleware standard, CORBA. Using middleware reduces the burden of network programming, error, and complication of integration, and increases reusability and portability. CORBA is the major and leading standard for distributed platforms. Our approach is to deploy CORBA to integrate distributed robotic and automatic control systems. To show the feasibility of our system, small blocks are grasped and moved by the manipulator robot.