In this paper, we propose RT-Middleware for robot system integration. "RT" means "Robot Technology", which is applied not only to industrial field but also to nonindustrial field such as human daily life support systems. RT-Middleware which is proposed in this paper is a software platform for RT systems. We have studied modularization of RT elements and have developed RT-Middleware, which promotes application of RT in various field. Robotic system development methodology and our RT-Middleware concepts is discussed. The RT-Component, which is a basic software unit of RT-Middleware based system integration, is derived from this discussion. A methodology of system development by using RT-Components, and a framework for component development are proposed. Evaluations of some RT-Component based systems is performed. Finally conclusion and future work will be described.

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In our previous work, we developed a compact 6-DOF haptic interface as a master device which achieved an effective manual teleoperation. The haptic interface contains a modified Delta parallel-link positioning mechanism. Parallel mechanisms are usually characterized by a high stiffness, which, however, is reduced by elastic deformations of both parts and bearings. Therefore, to design such a parallel mechanism, we should analyze its structural stiffness, including elastic deformations of both parts and bearings. Then we propose a simple method to analyze structural stiffness in a parallel mechanism using bearings. Our method is based on standard concepts such as static elastic deformations. However, the important aspect of our method is the manner in which we combine these concepts and how we obtain the value of the elasticity coefficient of a rotation axis in a bearing. Finally, we design a modified Delta mechanism, with a well-balanced stiffness, based on our method of stiffness analysis.

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