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Author/Affiliation: Donald Sofge

Extending the Life of Legacy Robots: MDS-Ach via x-Ach

by Daniel M. Lofaro, Magdalena Bugajska and Donald Sofge

Advances in Science, Technology and Engineering Systems Journal, Volume 4, Issue 1, Page # 50–72, 2019; DOI: 10.25046/aj040107

Abstract:

Our work demonstrates how to use contemporary software tools on older or “legacy” robots while keeping compatibility with the original control, tools, and calibration procedures. This is done by implementing a lightweight middle-ware called MDS-Ach connected directly to the hardware communications layer of the robot’s control system. The MDS-Ach middle-ware, which relies on the x-Ach…

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(This article belongs to the SP5 (Special Issue on Multidisciplinary Sciences and Engineering 2018) & Section Robotics (ROB))