Robot control software framework in open distributed process architecture

A computer memory for storing an open distributed processing structured robot control software architecture for constructing a robot by combination of a plurality of independent heterogeneous modules based on a network, the robot control software architecture comprising:

• software components operating in an independent and distributed fashion under a multitasking operating system;
• spec files capable of being uploaded and downloaded according to a request of a user the spec files being standardized for the software components;
• virtual machines corresponding respectively to the software components, the virtual machines activating the respective software components under a multitasking operating system;
• communication middleware for providing a communication path for operation and communication of the software components and a function description language for implementation of the software components;
• a task language for providing a distributed-software integration function through late binding of interfaces of distributed software components based on Extensible Markup Language as a standard language for Internet services, the task language being uploaded to a robot on a wide area network such as the Internet or a local area network, on which the robot is installed, so as to provide a user-oriented interface service according to the request of the user;
• and
• a real-time channel manager for analyzing information of late binding of the software components described in the task language, and obtaining substantial physical addresses to perform inter-process communication in the virtual machines or network communication between the virtual machines, the real-time channel manager managing real-time channel usage time of the software components through cooperation of multitasking operating system scheduling and network scheduling.