Research and application of middleware-based software framework for industrial robot
基于中间件的工业机器人软件框架的研究和应用*

This paper developed an extensible,scalable and portable software framework for train maintenance using industrial robots.The core was middleware by C CORBA,it expatiated at length on the framework's design and implementaion,the testbed included two Motoman UP6 manipulators and one Pioneer mobile robot,the framework employed two-tier server.Described and explained the system's CORBA IDL.Finally,gave the concluding remarks for future works.