An Effective Method of Sharing Heterogeneous Components of OPRoS and RTM

Heterogeneous components have different component models, which prevents suchcomponents from sharing the functionalities of other components based on the different models. Asone of methods for linking heterogeneous components, this paper suggests a proxy component toconstruct a bridge between heterogeneous components of OPRoS (Open Platform for Robotic Service)and RTM (Robot Technology Middleware). The proxy component consists of two types ofcomponents called Adaptor and Interceptor, via which the heterogeneous components can exchangedata and services easily. The proposed method enables adaptor and interceptor components to directlyinvoke the services of the latter and the former, respectively, in order to exchange data and services ona real-time basis. The proxy component can be implemented for OPRoS and RT (Robot Technology)component models to connect with RT and OPRoS ones, respectively. It is shown through a simpleexperiment that the proposed method works well for real-time control. KCI Citation Count: 2