Control architecture

The parallel robot control unit consists of an industrial PC equipped with data acquisition cards (force sensor, encoders, analog/digital and digital/analog converters, digital inputs/outputs...). The PC uses the Linux situation and the control of robot OROCOS middleware (Open Robot Control Softrware) and ROS (Robot Operating System). In addition, it has 4 stages of power ESCON50-5 for the performance of the Maxon RE-40 engines installed in the mechanical unit.