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RT middleware

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RT-middleware Logo mark; Japan Robot Association

RT-middleware (Robotics Technology Middleware) is a common computing platform technical standard for robots based on distributed object technology.[1] RT-middleware supports the construction of various networked robotic systems by integrating various network-enabled robotic elements named RT-Components, which specification standard is discussed and defined by the Object Management Group (OMG).[2]

Properties

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In the RT-middleware, robotics elements, such as actuators, are regarded as RT-components, and the whole robotic system is constructed by connecting such components. This distributed architecture helps developers reuse the robotic elements and boosts the reliability of a system.

Each RT-component has a port as an endpoint for communicating to other RT-components. Every port has its type and the ports which have the same type can be connected each other.

RT-components also have state, so they behave as finite-state machines. The states they can have are: CREATED, INACTIVE, ACTIVE, and ERROR. States and behaviors are controlled by the execution-context. If component behavior must be changed, the execution-context can be replaced at runtime.

Implementations

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RT-middleware is only a standard of the Robotics platform software. Implementations include:

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See also

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References

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  1. ^ Ando, Noriaki; Suehiro, Takashi; Kitagaki, Kosei; Kotoku, Tetsuo; Yoon, Woo-Keun (August 2005). RT-Middleware: Distributed Component Middleware for RT (Robot Technology). IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2005). Edmonton, Canada. pp. 3555–3560.
  2. ^ "Robotics Technology Component Specification version 1.0". Object Management Group (OMG).
  3. ^ OpenRTM-aist official website, http://www.openrtm.org/
  4. ^ SEC. Co., Ltd., [SEC, Robot Site http://www.sec.co.jp/robot/download_rtm.html]
  5. ^ SEC. Co., Ltd., [RTM Safety http://www.sec.co.jp/english/business/rtmsafety/]
  6. ^ SEC. Co., Ltd., [RTM Safety http://www.sec.co.jp/english/business/rtmsafety/]
  7. ^ SEC. Co., Ltd., [RTM Safety http://www.sec.co.jp/english/business/rtmsafety/]
  8. ^ "ROS – Robot Operating System". ROS.org.
  9. ^ "willowgarage.com". Willow Garage.
  10. ^ Orocos.org
  11. ^ "OPRoS". 3 January 2011. Archived from the original on 2011-07-04.
  12. ^ "KAR". Korea Association of Robot Industry.
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