Abstract

We have presented OpenRob, an integrated open-architecture platform for computer-aided control system design of robotic control systems. The implementation issues have been described in detail. It provides a one-stop solution in the sense that model building, controller design, and simulation are integrated into one platform for the ease of real-time implementation. The open-architecture feature enables users to further develop custom robot models, trajectory-planning schemes, and control algorithms into the system for simulation study and real-time control. The software can also be used as a tool for educational purposes. Several case studies have been provided to demonstrate the features of this open-architecture system.

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