A service robot is a complicated system integrating multi-disciplinary technologies, and robotic graphical programming is one of the key technologies for intelligent service robots. Based on the modularization and standardization of robot technology, this paper proposes an RTC (Robot Technology Component) based distributed structure framework robot system. In addition, this paper develops RTC functional components and establishes a 3D simulation and graphical programming system for intelligent service robots. A 3D simulation validation experiment is also presented, demonstrating that SmartPal dual-arm service robots execute pick & place tasks. The experiment shows that this intelligent programming system is an excellent robotic development tool. It has strong advantages in both its expansibility and integration ability, and it provides a convenient way for reducing the development costs of intelligent service robots.
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