抄録
In this paper, the RT-middleware toolbox "RTC-scilab" which interconnects RT-components and scientific modeling tool "scilab" is shown. Our goal is to reduce the developer's load when they implement their own algorithm into a robotic system. First, the difficulty of re-using the RTCs which directly depend on the hardware platform, like inverse-kinematics algorithm, is discussed. Next, the RTC-scilab is shown. Finally, an RTC which is programmed by using RTC-scilab is shown.
