Implementación basada en el middleware OROCOS de controladores dinámicos pasivos para un robot paralelo

摘要

Automatic control of robotic systems nowadays deals more and more with the implementation of different tasks to be achieved by the robot with distinct complexity degree, periodic or aperiodic, with local execution or distributed along a communication network and needing to deal with different kinds of hardware. Deal with the controller implementation for a new robotic platform involved to develop suitable software again for the new hardware or, in the best case, to adapt the existing one. In the recent years it has been tending to a component-based programing that allows to develop reusable software and to use a middleware that make it possible to abstract the developed software from the used hardware and from the available communication protocols. At this paper one of these middleware has been used, specially oriented to robotics as is OROCOS. Using the Orocos Toolchain library the real-time components needed for the implementation of several dynamic controllers for a parallel manipulator have been developed. At this paper the robot and the designed controllers are described and the results over the actual robot are shown.