Designing a generic software architecture for ARW manipulators

TO perform maintenance tasks, the AEROWORKS Aerial Robotic Workers use manipulators such as robotic arms, which come in several sizes and shapes. For the purpose of controlling these manipulators, a generic software has been written, in the sense that it can control any manipulator currently used by AEROWORKS with minimal effort. The software is designed to be reconfigurable in several aspects, so that future manipulator prototypes can be operated and testing using it as well, aiding the development of new manipulators.