The Design and Implementation of Middleware-based and VR-based Software Framework for Distributed Industrial Robot Application in Train Maintenance

The paper's work is to develop an extensible, scalable and portable software framework providing specific solutions for train maintenance using industrial robots. The core of this framework is C++CORBA, it serves as main bone for communication, scheduling and computing, C++ and Java RMI serves in client side for comprehensive management applications, OpenGL is adopted to help robot's design, job simulation and remote surveillance. Then the paper expatiates at length on the framework's design and implementation based on the testbed including two Motoman UP6 manipulators and one Pioneer mobile robot, the framework employs two-tier server and the considerations are given. Then specifications for the framework and the system's CORBA IDL are described and explained. Then a virtual reality oriented C++ client application using OpenGL is illustrated, focus is laid on the robot's design, simulation and remote surveillance by means of OpenGL. Then the paper shows how train maintenance job is simulated and managed by client application running within this framework. Finally, concluding remarks for future works are given.