Resumen en inglés

ABSTRACT: 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). It was tested on a simulation of the ABB IRB 140 robot, as well as, on a 3 degrees-of-freedom physical manipulator built for this project. The results show that the middleware improves the robot’s performance by taking care of the low level programming.