二、机器人模块化与云机器人 RT-Middleware RT-Components Logic device control .algorithms RT RT -applications Component Framework Component ete... Logic/algorithm with common interfaces RT-Component (RTC) RTC RTC RTC RTC RTC RTC RTC RTC RT-Middleware Execution environment for RTC=RT-Middleware(RTM) RTCs can be distributed across a network 13RT-Middleware & RT-Components 13 RT Component Framework RT Component Logic Logic/algorithm with common interfaces = RT-Component （RTC） RT-Middleware RTC RTC RTC RTC RTC RTC RTC RTC Execution environment for RTC＝RT-Middleware（RTM） ※RTCs can be distributed across a network ・device control ・algorithms ・applications etc…