動的に処理を変更可能なRTコンポーネントの提案とツールの開発

抄録

Developers can construct robot systems by combining software modules (RT-Component) on RT-Middleware. However, the procedure of modifying the source code and performing operation check of the RT-Components is complicated. In order to solve this problem, We propose implementation of RT-Component allowing for dynamic change in processing during execution. This paper describes function and implementation of this RT-Component and development tool.