基于中间件技术的异构机器人系统设计及实现

山东大学学报(工学版)

基于中间件技术的异构机器人系统设计及实现

周风余，宋洪军，刘涛，冯国瑞，牟龙芳，李贻斌

山东大学控制科学与控制工程学院，山东济南250061

收稿日期:2007-01-27 修回日期:1900-01-01 出版日期:2007-06-24 发布日期:2007-06-24
通讯作者: 周风余

Design and realization of a heterogeneous robot system based on middleware

ZHOU Feng-yu,SONG Hong-jun，LIU Tao,FENG Guo-rui，MU Long-fang，LI Yi-bin

School of Control Science and Engineering,Shandong University,Jinan 250061，China

Received:2007-01-27 Revised:1900-01-01 Online:2007-06-24 Published:2007-06-24
Contact: ZHOU Feng-yu

摘要/Abstract

摘要： 基于C++CORBA中间件的技术规范和具体应用，对异构机器人系统的集成技术进行了研究，以ACE/TAO作为开发平台，构建了一个基于CORBA技术的异构机器人互操作系统，实现了分布式环境下具有不同硬件结构、操作系统、通信协议和编程语言的机器人之间的互相通信，系统界面友好、操作简便，可移植性和可维护性强，并且便于升级，该系统的研发成功为多异构机器人的协作提供了最佳的技术路线。

关键词: 异构机器人, 中间件, C++CORBA, ACE/TAO

Abstract: Based on technique regulation and specific application of C+〖KG-*3]+CORBA middleware, integrated technology of a heterogeneous robot system is studied. Mutual communication is realized between robots with different hardware structures, operating systems, communication protocol and programming language in the distributed context after an isomeric robot mutual operating system has been composed based on CORBA technology with ACE/TAO as a development platform. The system interface is friendly and easily operated with high transplant ability and maintainability, which is easy to update. The successful development of this system offers an optimal technical route for the association of multiisomeric robots.

Key words: middleware, C++CORBA, ACE/TAO , heterogeneous robot

中图分类号:

TP311.1

周风余,宋洪军,刘涛,冯国瑞,牟龙芳,李贻斌 . 基于中间件技术的异构机器人系统设计及实现[J]. 山东大学学报(工学版), 2007, 37(3): 41-45 .

ZHOU Feng-yu,SONG Hong-jun,LIU Tao,FENG Guo-rui,MU Long-fang,LI Yi-bin . Design and realization of a heterogeneous robot system based on middleware[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2007, 37(3): 41-45 .

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