P&P - Standard architecture to enable fast software prototyping for robot arms

Abstract

Fast prototyping, in combination with Open Source resources, has a key role in the present technological evolution. In this work, an Open Source ROS-based architecture for Fast Software Prototyping for robot arms is proposed, based on Docker containers as a porting tool. This new architecture, called P&P (Plug and Prototype), has been integrated with an Open Source 3D-printed robot arm, to validate its ease of integration and use, also for less expert users. The P&P design is introduced and proposed as a standard for robot arms applications development, thanks to its modular and easily extensible structure.