Generic robotic and motion control API based on GISC-Kit technology and CORBA communications

Abstract

This paper presents a generic robot and motion control applications programmers interface (API) based on generic intelligent systems control (GISC) technology and CORBA communications. The API provides a generic high-level interface for command sequences between a supervisory control system and devices ranging from one degree of freedom motion devices up to six degree of freedom robotic systems. The API manages distributed robotic control using CORBA communications across numerous platforms ranging from Unix workstations to PCs. The paper presents a description of the API functions and classes used to integrate the Sandia-developed GISC control architecture and commercial CORBA software to support device-independent robotic control.