Implementation of distributed production system for heterogeneous multiprocessor robotic systems

Authors:
Yosuke Matsusaka;Isao Hara
Affiliations:
National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan;National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan
Venue:
SIMPAR'10 Proceedings of the Second international conference on Simulation, modeling, and programming for autonomous robots
Year:
2010

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Abstract

We have developed an RTDPS (Robotic Technology Distributed Production System) for use as a framework for realizing optimized performance of an integrated robot. The RTDPS is a set of software built onOpenRTM-aist (an implementation ofOMGRT-middleware specification), which consists of a script compiler, node components, and deployment utility. By distributing the application logics among the processing elements, the RTDPS can prevent the centralized control of integrated systems, which causes system bottlenecks. By performing experiments involving two typical applications, we show that the network traffic can be reduced by 73% while balancing the processing load among the processing elements.