To address the challenges of openness and development efficiency in heterogeneous robotic systems for agile manufacturing, this paper proposes a novel development framework leveraging Data Distribution Service (DDS) orchestration. This framework is designed to enhance system openness, streamline development, and ensure high-performance communication critical for manufacturing agility. Firstly, the paper proposes an orchestration-driven, service-oriented architecture with a robust foundation for efficient development and integration. To further enable intuitive and efficient development, a visual modeling description method based on data flow and workflow paradigms is proposed, facilitating the online orchestration of DDS services. Additionally, a model-driven, contract-based approach for dynamic proxy service construction has been developed, allowing DDS services to be exposed as standardized Web Services, which significantly improves system openness within broader manufacturing networks. Finally, a design method for the orchestration execution engine based on Apache Camel is proposed to support the dynamic execution of DDS orchestration and proxy tasks. Comparative experiments with Robot Operating System 2 (ROS2) validate the proposed framework’s significant advantages in terms of openness, development flexibility, and efficiency, demonstrating its suitability for agile manufacturing scenarios.

中文翻译：

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一种基于数据分发服务编排的新型开放高效的机器人开发框架，用于敏捷制造

为了解决敏捷制造的异构机器人系统中的开放性和开发效率挑战，本文提出了一种利用数据分发服务 （DDS） 编排的新型开发框架。该框架旨在增强系统开放性、简化开发并确保对制造敏捷性至关重要的高性能通信。首先，本文提出了一种编排驱动的、面向服务的架构，为高效开发和集成奠定了坚实的基础。为了进一步实现直观高效的开发，该文提出一种基于数据流和工作流范式的可视化建模描述方法，促进了 DDS 服务的在线编排。此外，还开发了一种模型驱动、基于合同的动态代理服务构建方法，允许将 DDS 服务作为标准化的 Web 服务公开，从而显著提高系统在更广泛的制造网络中的开放性。最后，提出了一种基于 Apache Camel 的编排执行引擎设计方法，以支持 DDS 编排和代理任务的动态执行。与机器人作系统 2 （ROS2） 的对比实验验证了所提出的框架在开放性、开发灵活性和效率方面的显著优势，证明了其适用于敏捷制造场景。