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Karsten Diethers, Bernd Finkemeyer, Nnamdi Kohn

Realizing Open Control Software for High Dynamic Processes with a Middleware

Middleware concepts have proven practical relevance. The possibility of a transparent software design and a dynamic exchange of components are beneficial for software design and application. Anyway, due to their general applicability standard middleware approaches tend to be too sophisticated for hard real-time applications. So the performance requirements of a high dynamic robot control system described here are not met. In this article a lightweight real-time middleware, MiRPA, is introduced. The core of MiRPA´s communication architecture is an object server, which implements communication services. A high speed communication protocol (IAP) based on the IEEE1394-standard (Firewire) enables data exchange with distributed components. MiRPA is designed and implemented especially for the requirements of high-dynamic robot controls.

it – Information Technology (vormals it+ti), Oldenbourg Wissenschaftsverlag

Print ISSN: 1611-2776
Volume: 46, 01/2004
Pages: 039

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