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Implementation of a Middleware for the Control System of the Serial Robot

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dc.contributor.advisorRozo Osorio, David
dc.contributor.authorOrtiz Camacho, Manuel Jose
dc.date.accessioned2024-01-29T20:56:57Z
dc.date.available2024-01-29T20:56:57Z
dc.date.issued2023
dc.description57 páginasspa
dc.description.abstractABSTRACT: 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.eng
dc.description.degreelevelPregrado
dc.description.degreenameIngeniero(a) Mecatrónico(a)
dc.format.mimetypeapplication/pdf
dc.identifier.urihttps://repository.eia.edu.co/handle/11190/6372
dc.language.isoeng
dc.publisherUniversidad EIA
dc.publisher.facultyEscuela de Ingeniería y Ciencias Básicas
dc.publisher.placeEnvigado (Antioquia, Colombia)
dc.publisher.programIngeniería Mecatrónica
dc.rightsDerechos Reservados - Universidad EIA, 2023spa
dc.rights.accessrightsinfo:eu-repo/semantics/openAccess
dc.rights.coarhttp://purl.org/coar/access_right/c_abf2
dc.rights.licenseAtribución-NoComercial-SinDerivadas 4.0 Internacional (CC BY-NC-ND 4.0)
dc.subject.proposalROSeng
dc.subject.proposalMiddlewareeng
dc.subject.proposalMoveIteng
dc.subject.proposalSerial roboteng
dc.subject.proposalGazeboeng
dc.subject.proposalRvizeng
dc.subject.proposalABB Irb140eng
dc.titleImplementation of a Middleware for the Control System of the Serial Roboteng
dc.typeTrabajo de grado - Pregrado
dc.type.coarhttp://purl.org/coar/resource_type/c_7a1f
dc.type.coarversionhttp://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.contentText
dc.type.driverinfo:eu-repo/semantics/bachelorThesis
dc.type.redcolhttp://purl.org/redcol/resource_type/TP
dc.type.versioninfo:eu-repo/semantics/publishedVersion
dspace.entity.typePublication
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