The paper describes a software architecture for control and simulation of a generic robotic manipulator. The algorithmic part of the system is implemented using the Orocos component-based framework and its related library for robotic applications, while the graphical animation of the robot is developed with Blender. The proposed control and simulation framework is modular, reconfigurable and computationally efficient. Moreover, it can be seamlessly integrated into a more complex control architecture for a complete intelligent robotic system.

A Component-Based Software Architecture for Control and Simulation of Robotic Manipulators / Ferraguti, Federica; Golinelli, Nicola; Secchi, Cristian; N., Preda; M., Bonfé. - ELETTRONICO. - (2013), pp. 1-5. ((Intervento presentato al convegno Proceedings of the 2013 IEEE 18th Conference on Emerging Technologies & Factory Automation (ETFA) tenutosi a Cagliari, Italy nel 10-13/09/2013 [10.1109/ETFA.2013.6648070].

A Component-Based Software Architecture for Control and Simulation of Robotic Manipulators

FERRAGUTI, Federica;GOLINELLI, NICOLA;SECCHI, Cristian;
2013-01-01

Abstract

The paper describes a software architecture for control and simulation of a generic robotic manipulator. The algorithmic part of the system is implemented using the Orocos component-based framework and its related library for robotic applications, while the graphical animation of the robot is developed with Blender. The proposed control and simulation framework is modular, reconfigurable and computationally efficient. Moreover, it can be seamlessly integrated into a more complex control architecture for a complete intelligent robotic system.
Proceedings of the 2013 IEEE 18th Conference on Emerging Technologies & Factory Automation (ETFA)
Cagliari, Italy
10-13/09/2013
1
5
Ferraguti, Federica; Golinelli, Nicola; Secchi, Cristian; N., Preda; M., Bonfé
A Component-Based Software Architecture for Control and Simulation of Robotic Manipulators / Ferraguti, Federica; Golinelli, Nicola; Secchi, Cristian; N., Preda; M., Bonfé. - ELETTRONICO. - (2013), pp. 1-5. ((Intervento presentato al convegno Proceedings of the 2013 IEEE 18th Conference on Emerging Technologies & Factory Automation (ETFA) tenutosi a Cagliari, Italy nel 10-13/09/2013 [10.1109/ETFA.2013.6648070].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11380/1012938
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