Open Control architecture

Architecture built on top of the ROS framework and the corresponding software components that allow controlling different robot configurations.

It includes the following two components:

• The Execution Manager. It is in charge of managing the requests of other modules and sequencing them. It controls the overall system, maintaining its status anytime.

• A Graphical User Interface. It allows controlling the basic robot functionalities, access its internal parameters and values, and it integrates the program editor

The component requires the execution of KER 5.

It has been tested with the FourByThree arm and with Universal Robot 10.