Internet Distributed Robotic Systems Integration Using Common Object Request Broker Architecture

摘要

This paper proposes a novel method to integrate Internet distributed robotic systems using Common Object Request Broker Architecture for implementing telecare robotic system to aid the aged or disabled. The proposed method makes system have low cost and wide availability, high scaling and inter-operating ability to allow the clients and server objects, written in different languages, run in different operating system, and connected in different network to inter-operate. It also makes it easier for system to be extended and integrated with the other technologies and applications distributed over the Internet. Using CORBA as a communication architecture, we developed hardware base, Web user management server, task-level robot arm control server, live image feedback server, mobile robot control server and iGPS server, which can provide some basic care services to aid the aged and disabled.