Abstract
We present a remote operated robot application based on a standard CORBA distributed system to control a MOTOMAN 6-DOF arm manipulator. The robot is based on XRC2001 robot controller. Current approach could be extented to other Yaskawa controllers (e.g. ERC, ERCII, MRC, MRCII) without major changes. The main idea is to define a set of generic IDL interfaces that can be used to integrate commercial proprietary libraries hiding the intricate of low level components. The challenge is to create a remote client-server application which facilitates the integration of one or several arm manipulators based on mentioned controllers independently from computer system or different platforms.
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© 2005 Springer-Verlag Berlin Heidelberg
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Guedea-Elizalde, F., Mata-Hernández, J.M., Morales-Menéndez, R. (2005). CORBA Distributed Robotic System: A Case Study Using a Motoman 6-DOF Arm Manipulator. In: Gelbukh, A., de Albornoz, Á., Terashima-Marín, H. (eds) MICAI 2005: Advances in Artificial Intelligence. MICAI 2005. Lecture Notes in Computer Science(), vol 3789. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11579427_109
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DOI: https://doi.org/10.1007/11579427_109
Publisher Name: Springer, Berlin, Heidelberg
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