Implementation of a Middleware for the Control System of the Serial Robot
Universidad EIA, Envigado, Antioquia
Jan 2023 - Nov 2023 (11 months)
this thesis presents the implementation of a middleware for the control of an ABB industrial robot. The middleware is designed to improve the robot’s performance and simplify its control. The following includes a theoretical framework that covers topics such as industrial robots, direct and inverse kinematics, trajectory planning, and middleware development. The middleware is implemented using the Robot Operating System (ROS).