Development of a reusable top-level control architecture for a robotic manipulator
by D'Amore, Nicholas John, M.S., UNIVERSITY OF MARYLAND, COLLEGE PARK, 2010, 201 pages; 1482497

Abstract:

The capabilities of a robotic system are strongly constrained by the capabilities of its control software. The development of this software represents a substantial fraction of the development effort of the overall system, due in part to the difficulty of reusing software written for previous robotic applications. A reusable software control architecture therefore has enormous potential to expedite the development and reduce the cost of this development process. This thesis presents a component-based reusable architecture for the top-level control of a robotic manipulator, developed within the Open Robot Control Software (Orocos) framework. This framework enables the development of software components that are applicable to a variety of robotic manipulators. The software is implemented on an existing manipulator platform as a demonstration of basic functionality. Simulations are conducted to verify adaptability to other kinematic arrangements.

 
AdviserDavid Akin
SchoolUNIVERSITY OF MARYLAND, COLLEGE PARK
SourceMAI/ 49-02, p. , Nov 2010
Source TypeThesis
SubjectsAerospace engineering; Robotics
Publication Number1482497
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