Development of a reusable top-level control architecture for a robotic manipulator |
Posted on:2011-11-16 | Degree:M.S | Type:Thesis |
University:University of Maryland, College Park | Candidate:D'Amore, Nicholas John | Full Text:PDF |
GTID:2448390002954991 | Subject:Engineering |
Abstract/Summary: | |
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. |
Keywords/Search Tags: | Development, Robotic, Software, Reusable, Architecture |
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