The Research and Application of Real Time CORBA in Software Framework for Industrial Robot

It aims to develop an extensible, scalable and portable software framework providing specific solutions for train maintenance using industrial robots. The core of the framework is C++ RTCORBA, it serves as main bone for communication, scheduling and computing, C++ and Java RMI serves in client side for comprehensive management applications. It expatiates at length on the framework's design and implcmentaion based on the test bed including two Mo toman UP6 manipulators and one Pioneer mobile robot, the framework employs two-tier server and design considerations are given. Then system's CORBA IDL design are described and given. Finally, concluding remarks for future works are given.