A component-based architecture for robot control

this work deals with the specification of an open architecture for control of manipulator robots. the architecture defines policies for the use of the orocos framework and is specified for a generic manipulator robot with n joints, through the definition of component models to abstract the hardware and each block of the robot controller. to show its generality, the proposed architecture is used to implement two different controllers: an independent pid for each joint and controller with feedforward compensation. the validation is made through the implementation in real-time on the janus robot.