中文摘要：

开发了一套面向服务机器人的简易编程环境．利用此环境可以绘制机器人作业环境的地图，使用图标进行可视化的编程，并对机器人的运行进行二维和三维动画仿真．编程环境模块间采用CORBA标准通信，功能独立的各模块可以分布在网络中不同的计算机上，也易于移植到其他编程平台．在双臂移动式服务机器人SmartPal上的演示实验表明，此编程环境是有效的．

英文摘要：

This paper introduced an easy programming environment for service robots that can be used to draw the working space map for robots, write robot program using icons, and execute and evaluate the program in 2D or 3D graphical simulation interface. The icon-based flowchart programming style enables oridnary users to program robots in more convenient and intuitive way. The synchronization mechanism based on blackboard pattern ensures the programming for multi-robot cooperation. The modules in the environment communicate with each other using CORBA standard, so the independent modules can run on multiple computers via network and be easily transplanted to other programming platform. The demonstration experiments on the dual-arm mobile service robot SmartPal prove the validity of this programming environment.