Distributed Control of Functional RT Components Based on Open Robot Architecture RTM

In this paper, we propose using Open Robot Architecture RTM as platform to develop service robotic system. First, we developed QuickCam Orbit cameras functional elements as "RT software components" to monitor home integration robot system working and the state of the aged or disabled. Then we developed IEEE1394 cameras RT components to improve network distributed monitoring system because IEEE1394 cameras are widely used in robot field and have high performance and high resolution. By using Open Robot Architecture RTM, the developed camera components can be implemented by different programming languages, run in different operating system, or connected in different networks to inter-operate. It is also easy to create comprehensive robot system application by re-using existing modules thus facilitating network-distributed software sharing and improving the cost of writing and maintaining software.