Abstract
In order to enhance the robot system integration and development for guide robot, a distributed simulation system was developed in this study using RTM (Robot Technology Middleware) technology, which is an open software platform for robot systems. The RT (robot technology) system of an adapter, a controller and the robot, together with other CORBA objects, was developed to connect the graphical programing interface with 3D simulator to set up an RTM based distributed simulation system. Simultaneously, the application of the distributed simulation system also confirms the controlling of the real robot utilizing the RT system. The proposed distributed simulation system based on RTM can obviously accelerate the software component development as well as the system integration for guide robot, which will certainly lower the cost of the development of new robot application systems.
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