Abstract
Virtual laboratories and on-line robots are examples of distributed telerobotic systems based on emerging Internet technologies. Building these applications from scratch is a very demanding effort because they must satisfy a wide set of requirements, arising from both the distributed systems domain, e.g. location transparency and multiplatform interoperability, and the telerobotic domain, e.g. guaranteed quality of service, real-time operation, dynamic reconfigurability, concurrent or collaborative interaction among distributed sites. For these systems exploitation of an Object Oriented standard middleware like CORBA should be very effective, thanks to its well known features and services and its recent enhancements (Real-Time CORBA, AMI).
In this paper we summarize our experience in the development of a software framework for telerobotics based on Real-Time CORBA. The framework takes advantage from CORBA services to allow implementation of advanced teleoperation systems, thereby avoiding proprietary or ad-hoc solutions for communication and priority management. In order to enable distributed collaboration and virtual laboratories, it also supports concurrent control and data distribution with multiple Clients. The framework has been evaluated in a real scenario, building a distributed telerobotic application which allows control of a robot arm and several sensors by multiple Clients.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Zielinski, C.: Object-Oriented Robot Programming. Robotica 15(1) (January 1997)
Hori, T., Hirukawa, H., Suehiro, T., Hirai, S.: Networked Robots as Distributed Objects. In: IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (1999)
Bottazzi, S., Caselli, S., Reggiani, M., Amoretti, M.: A Software Framework based on Real-Time CORBA for Telerobotic Systems. In: IEEE Int’l Conf. Intelligent Robots and Systems (2002)
Jia, S., Hada, Y., Gang, Y., Takase, K.: Distributed Telecare Robotic Systems Using CORBA as a Communication Architecture. In: IEEE Int. Conf. Robotics and Automation (2002)
Ortmaier, T., Reintsema, D., Seibold, U., Hagn, U., Hirzinger, G.: The DLR Minimally Invasive Robotics Surgery Scenario. In: Work. Advances in Interactive Multimodal Telepresence Systems (2001)
Preusche, C., Hoogen, J., Reintsema, D., Schmidt, G., Hirzinger, G.: Flexible Multimodal Telepresent Assembly using a Generic Interconnection Framework. In: IEEE Int. Conf. Robotics and Automation (2002)
Sayers, C.: Remote Control Robotics. Springer, Heidelberg (1999)
Sheridan, T.B.: Telerobotics, Automation, and Human Supervisory control. MIT Press, Cambridge (1992)
Hirukawa, H., Hara, I.: Web-Top Robotics. IEEE Robotics & Automation Magazine 7(2), 40–45 (2000)
Goldberg, K., Gentner, S., Sutter, C., Wiegley, J.: The Mercury Project: A Feasibility Study for Internet Robots. IEEE Robotics & Automation Magazine 7(1), 35–39 (2000)
Dalton, B., Taylor, K.: Distributed Robotics over the Internet. IEEE Robotics & Automation Magazine 7(2), 22–27 (2000)
Hirukawa, H., Hara, I., Hori, T.: Online robots. In: Goldberg, K., Siegwart, R. (eds.) Beyond Webcams: an introduction to online robots. The MIT Press, Cambridge (2001)
WS2001: International Workshop on Tele-Education in Mechatronics Based on Virtual Laboratories, Weingarten, Germany (July 2001)
Goldberg, K., Siegwart, R. (eds.): Beyond Webcams: an Introduction to Online Robots. MIT Press, Cambridge (2001)
Backes, P., Tso, K., Tharp, G.: Mars Pathfinder Mission Internet-Based Operations using WITS. In: IEEE Int. Conf. Robotics and Automation (1998)
Tsumaki, Y., Goshozono, T., Abe, K., Uchiyama, M., Koeppe, R., Hirzinger, G.: Verification of an Advanced Space Teleoperation System using Internet. In: IEEE/RSJ Int’l Conf. on Intelligent Robots and Systems (2000)
Real-Time CORBA Revision 1.1, Object Management Group (August 2002)
Arulanthu, A., O’Ryan, C., Schmidt, D., Kircher, M., Parsons, J.: The Design and Performance of a Scalable ORB Architecture for CORBA Asynchronous Messaging. In: Proc. of the Middleware 2001 Conference ACM/IFIP (2000)
The Common Object Request Broker: Architecture and Specification Revision 3.0, Object Management Group (December 2002)
Douglass, B.: Doing Hard Time: Developing Real-Time Systems with UML, Objects, Frameworks, and Patterns. Addison-Wesley, Reading (1999)
Chong, N., Kotoku, T., Ohba, K., Komoriya, K., Matsuhira, N., Tanie, K.: Remote coordinated controls in multiple telerobot cooperation. In: IEEE Internatial Conference on Robotics and Automation (2000)
Object Management Group: Concurrency Service Specification (April 2000), http://www.omg.org/technology/documents/formal/concurrency_service.htm
Buschmann, F., Meunier, R., Rohnert, H., Sommerlad, P., Stal, M.: A System of Patterns. Wiley and Sons, Chichester (1996)
Henning, M., Vinoski, S.: Advanced CORBA Programming with C++. Addison-Wesley, Reading (1999)
Object Management Group: Event service specification, v. 1.1 (March 2001), http://www.omg.org/technology/documents/formal/event_service.htm
OMG, Notification service specification, v. 1.0.1 (August 2002), http://www.omg.org/technology/documents/formal/notification_service.htm
Distributed Object Computing (DOC) Group, Real-time CORBA with TAO (The ACE ORB) http://www.ece.uci.edu/~schmidt/TAO.html
Paolini, C., Vuskovic, M.: Integration of a Robotics Laboratory using CORBA. In: IEEE Int. Conf. Systems, Man, and Cybernetics (1997)
Burchard, R., Feddema, J.: Generic Robotic and Motion Control API Based on GISC-Kit Technology and CORBA Communications. In: IEEE International Conference on Robotics and Automation (1997)
Jia, S., Takase, K.: An Internet Robotic System based Common Object Request Broker Architecture. In: IEEE Int. Conf. Robotics and Automation (2001)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2003 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Amoretti, M., Bottazzi, S., Reggiani, M., Caselli, S. (2003). Designing Telerobotic Systems as Distributed CORBA-Based Applications. In: Meersman, R., Tari, Z., Schmidt, D.C. (eds) On The Move to Meaningful Internet Systems 2003: CoopIS, DOA, and ODBASE. OTM 2003. Lecture Notes in Computer Science, vol 2888. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-39964-3_69
Download citation
DOI: https://doi.org/10.1007/978-3-540-39964-3_69
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-20498-5
Online ISBN: 978-3-540-39964-3
eBook Packages: Springer Book Archive