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. ( 2013 IEEE 18th International Conference on Emerging Technologies and Factory Automation, ETFA 2013 Cagliari, ita 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
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.
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