TIMING ANALYSIS OF A GENERIC ROBOT TELEOPERATION SOFTWARE ARCHITECTURE

The development of generic software architectures for specific applica tion domains is an effective way of reusing software. This was one of the aims in the development of an architecture for teleoperating robot s, which can be adapted to deal with different jobs, operational envir onments and robots. However these kinds of systems have timing require ments. The purpose of this paper is to present a characterization of t his architecture, for an analysis of its timing properties using the R ate Monotonic Analysis method. In this way a generic architecture, and a method of checking its timing properties, are provided. (C) 1998 El sevier Science Ltd. All rights reserved.