Arquitectura Para Control de Robots de Servicio Teleoperados

摘要

[EN] The teleoperated robots are used to carry out tasks in dangerous or difficult to reach environments. Nowadays, it is possible to find several control architectures for this kind of systems. However, none of them is capable to cope with the requirements of all the systems, due to great variability that exists among them. The purpose of this paper is to present a new architectural framework (ACROSET) that takes into account the recent approaches in software architectures, specially the component based development (CBD). The CBD provides a common framework for systems development with very different behaviours and allows the integration of intelligent components. The architecture is being used in the EFTCoR project for the development of a family of robots (teleoperated cranes and vehicles) that perform maintenance tasks over the hull ships surfaces.