We are currently developing a strawberry-harvesting robot which includes machine vision, five-axis manipulator, end-effector and fruit-tray-exchanger. Because the relative technologies, such as recognition of strawberry fruits, are still being investigated, it is expected that the robot will be customized. Therefore, the robot is installed 'OpenRTM-aist (Ver. 1.0.0-RELEASE)' which is one of a 'RT middleware'. 'RT middleware' is the software platform in which all functional units are composed to an 'RT-Component'. In this paper, The RT-components we developed are shown in detail.
