Experimental platform for a robotic hand-arm system

Abstract

Software development in robotics is a complex task due to the existing heterogeneity in terms of hardware, communications and programming languages that are used in modern robotic systems. The lack of standardization in how software should be developed allows each programmer to provide a custom solution that is restricted to work with specific systems and cannot be reproduced or expanded by other research groups. In this work a general environment for the interaction between the human operator and different elements in a robotized cell is presented, such that all the involved elements can be easily managed from a unique interface. The aim of the developments is to provide a common frame that can be ported to different operating systems and can be easily extended or adapted to new devices.