Robotics middleware: Difference between revisions

Revision as of 03:24, 8 September 2013

Revision as of 17:26, 4 October 2013

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{{Multiple issues|primarysources=February 2009|unreferencedrefimprove=FebruaryOctober 20092013}}

'''Robotics middleware''' is [[middleware]] to be used in complex [[robot]] control software systems. It is the ''glue'' software that every system developer wants to use to connect software (and hardware) components together. Often, only ''communication'' between components is considered to be middleware, but all ''application-independent'' codes that help system developers in the composition of subsystems into larger systems may also be included.

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==Robotics middleware projects==

===Player Project===

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=== RT-middleware Projects ===

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* <u>System organization/decomposition</u> - [[RT_middlewareRT middleware|RT-middleware]] (Robotics Technology Middleware) is a common platform standards for Robots based on the distributed object technology.<ref>Noriaki ANDO, Takashi SUEHIRO, Kosei KITAGAKI, Tetsuo KOTOKU, Woo-Keun Yoon, "RT-Middleware: Distributed Component Middleware for RT (Robot Technology)", 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2005), pp.3555-3560, 2005.08, Edmonton, Canada</ref> RT-middleware supports the construction of various networked robotic systems by the integration of various network enabled robotic elements called [[RT-Components]]. The specification standard of the RT-component is discussed / defined by the [[Object Management Group]] (OMG).<ref>[http://www.omg.org/spec/RTC/1.1/ Robotics Technology Component Specification version 1.1], Object Management Group (OMG)</ref>

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** "[[OpenRTM-aist]]" is an implementation of the RT-middleware on the basis of [[CORBA]] platform developed by [[National Institute of Advanced Industrial Science and Technology]]. Using CORBA's characteristics, OpenRTM-aist is available for multi-platform (Windows, Linux, OSX, VxWorks, TOPPERS, QNX ...) and multi-language (C++, Python, Java ..) environment.<ref>OpenRTM-aist official website, http://www.openrtm.org/</ref>

** "OpenRTM.NET" is an implementation of the RT-middleware for the [[.NET Framework]] platform.<ref>SEC. Co., Ltd., [SEC, Robot Site http://www.sec.co.jp/robot/download_rtm.html]</ref>

** "RTM on Android" is an implementation on [[Android OS]] that is communicable with OpenRTM-aist.<ref>SEC. Co., Ltd., [SEC, Robot Site http://www.sec.co.jp/robot/download_rtm.html]</ref>.

** "RTC Lite" is a modified RT-middleware for embedded or small-resource systems such as PIC (Microchip), ARM, H8 (Runesus), and so on.<ref>SEC. Co., Ltd., [SEC, Robot Site http://www.sec.co.jp/robot/download_rtm.html]</ref>.

** "RTM Safety" is a market available implementation of RTM to pass the IEC 61508 standard.<ref>SEC. Co., Ltd., [RTM Safety http://www.sec.co.jp/english/business/rtmsafety/index.html]</ref>

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== References ==

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