Development of a reusable top-level control architecture for a robotic manipulator

Simple item page
dc.contributor.advisorAkin, Daviden_US
dc.contributor.authorD'Amore, Nicholasen_US
dc.contributor.departmentAerospace Engineeringen_US
dc.contributor.publisherDigital Repository at the University of Marylanden_US
dc.contributor.publisherUniversity of Maryland (College Park, Md.)en_US
dc.date.accessioned2010-10-07T06:04:59Z
dc.date.available2010-10-07T06:04:59Z
dc.date.issued2010en_US
dc.description.abstractThe 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.en_US
dc.identifier.urihttp://hdl.handle.net/1903/10916
dc.subject.pqcontrolledEngineering, Roboticsen_US
dc.subject.pqcontrolledEngineering, Aerospaceen_US
dc.subject.pquncontrolledkinematicsen_US
dc.subject.pquncontrolledmanipulatoren_US
dc.subject.pquncontrolledorocosen_US
dc.subject.pquncontrolledreusableen_US
dc.subject.pquncontrolledsoftwareen_US
dc.titleDevelopment of a reusable top-level control architecture for a robotic manipulatoren_US
dc.typeThesisen_US

Files

Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
DAmore_umd_0117N_11577.pdf
Size:
2.17 MB
Format:
Adobe Portable Document Format
Download

Collections

UMD Theses and Dissertations
Aerospace Engineering Theses and Dissertations