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A Middleware for High-Speed Distributed Real-Time Robotic Applications

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Book cover Robotic Systems for Handling and Assembly

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 67))

Abstract

The development of modular and distributed real-time software systems — as they are common in the field of research and development of robotic manipulation control systems — can be greatly simplified by appropriate middleware concepts. This paper generically introduces the basic concepts of the middleware solution MiRPA (Middleware for Robotic and Process Control Applications). MiRPA’s employment allows the implementation of complex distributed real-time software architectures. It handles publisher/subscriber as well as client/server communication between local and distributed software modules with very small worst-case latencies (≪ 1 ms). Besides introducing basics on inter-module and inter-node communication for these two communication models, deadlock avoiding strategies, and methods of redundancy handling, we finally show results of real-world measurements and applications.

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Author information

Authors and Affiliations

  1. KUKA Roboter GmbH, Zugspitzstraße 140, 86165, Augsburg, Germany

    Bernd Finkemeyer

  2. Artificial Intelligence Laboratory, Department of Computer Science, Stanford University, Stanford, CA, 94305-9010, USA

    Torsten Kröger

  3. Institute for Robotics and Process Control, Technische Universität Braunschweig, Mühlenpfordtstraße 23, 38106, Braunschweig, Germany

    Friedrich M. Wahl

Authors
  1. Bernd Finkemeyer
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  2. Torsten Kröger
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  3. Friedrich M. Wahl
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Editor information

Editors and Affiliations

  1. Institute of Machine Tools and Production Technology, Technische Universität Braunschweig, Langer Kamp 19b, 38106, Braunschweig, Germany

    Daniel Schütz

  2. Institute for Robotics and Process Control, Technische Universität Braunschweig, Mühlenpfordtstraße 23, 38106, Braunschweig, Germany

    Friedrich M. Wahl

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Finkemeyer, B., Kröger, T., Wahl, F.M. (2010). A Middleware for High-Speed Distributed Real-Time Robotic Applications. In: Schütz, D., Wahl, F.M. (eds) Robotic Systems for Handling and Assembly. Springer Tracts in Advanced Robotics, vol 67. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16785-0_12

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  • DOI: https://doi.org/10.1007/978-3-642-16785-0_12

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-16784-3

  • Online ISBN: 978-3-642-16785-0

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