基于CORBA技术的机器人模块化设计的研究进展

【摘要】 随着机器人应用领域的日益普及其功能的不断完善,机器人自身结构和控制也变得越来越复杂。传统的设计和开发方法已经逐渐显示出了制约机器人的应用和发展,为此,研究者们寻求机器人模块化和组件化设计新方法,本文将从介绍以CORBA为代表的中间件在机器人领域的研究状况为切入点,综述了基于CORBA中间件的机器人模块化设计技术,并指出了通过该技术将各种软硬件的异构因素封装在统一的功能组件中,解决模块化设计的瓶颈问题。最后展望和分析了模块化、分布式的机器人组件的发展趋势。更多还原

【Abstract】 With the development of robotic applications,robot functions become more and more powerful,but the robotic system becomes more and more complex. The traditional non-modularization design has restricted the robotic application and development,thus the modularization technology is introduced into the robotic domain,and encapsulates heterogeneous robotic components into the uniform standardized components. This paper introduces the current research status on CORBA in the robotic domain,presents modularization and distributed robotic architecture. The problems and developmental trends of the robotic modularization are predicted.更多还原