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— In this paper, we propose RT-Middleware for robot system integration. " RT " means " Robot Technology " , which is applied not only to industrial field but also to nonindustrial field such as human daily life support systems. RT-Middleware which is proposed in this paper is a software platform for RT systems. We have studied modularization of RT elements(More)
This paper proposes the RT-Middleware for robot system integration. " RT " means " Robot Technology " which is applied not only to industrial field but also to nonindustrial field such as human daily life support systems. We have studied modularization of RT elements and have developed software platform RT-Middleware which promotes application of RT in(More)
In this paper, we propose RT-Component architecture for robot system integration. We have studied modu-larization of RT (Robot Technology) elements and have developed RT-Middleware, which promotes application of RT in various field[1], [2], [3]. RT-Middleware is a software platform for RT systems and provides RT specific functionality for the component(More)
This paper presents the utilization of inertial effect in damping-based posture control of a mobile manipulator. As a measure for redundancy resolution of a mobile manipulator, an effective inertia at the end effector in the operational space is proposed and investigated. By changing the effective inertia property via null-motion, we can get the reduced(More)
— This paper proposes RT-Component object model in RT-Middleware for robot system integration. " RT " means " Robot Technology " , which is applied not only to industrial field but also to nonindustrial field such as human daily life support systems. RT-Middleware is a software infrastructure for RT systems. We have studied modularization of RT elements at(More)