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oai:drum.lib.umd.edu:1903/109162016-03-29T05:16:06Zcom_1903_2206com_1903_1654com_1903_2col_1903_2737col_1903_3

Akin, David D'Amore, Nicholas Digital Repository at the University of Maryland University of Maryland (College Park, Md.) Aerospace Engineering 2010-10-07T06:04:59Z 2010-10-07T06:04:59Z 2010 http://hdl.handle.net/1903/10916 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. Development of a reusable top-level control architecture for a robotic manipulator Thesis Engineering, Robotics Engineering, Aerospace kinematics manipulator orocos reusable software open.access