When multi-operator control robots through the Internet，logical distributed virtual environment (DVE)can enhance remote control capability and network communicating capability can guarantee eficient operations．The importance of VE in an Internet based multiple telerobot system is clarified first and then the characters of the middleware technology based on CORBA／Java technology is analyzed to realize the DVE．The definitions of the client class and server class for VE model is built referred to the structural analysis of VE and the process of teleoperation，and inner connections of system framework and the important application of CORBA／ Java communicating technology is discussed with UML．A pin-in-hole experiment is implemented in VE to discuss that communication among network objects is eficient by using the interoperation of CORBA and portable character of Java，and it is also realized that VE in a telerobot system has good interactive capability to guarantee the operational pr

基于中间件技术的多机器人遥操作的虚拟环境.pdf

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