The objective of the thesis is to create and implement a generic and modular layer, which encapsulates and coordinates the entire movement of the individual robots that the Mobile Anthropomorphic Dual-Arm Robot (MADAR) platform is made of, to used it in a task and motion planning research framework. As each device has different characteristics and functionalities, is it really important to take them into consideration when a coordinated and synchronized motion planning is wanted. This report tackles two main problems, first, the development of the necessary software for managing the hardware, and second, the synchronization and the control of the set of Real Time (RT) systems. The project uses Robot Operating Systems (ROS), which is a robotic software framework, in a clear and transparent way as a tool to develop the solution for the real hardware motion and communication problems. The framework created enables the user to interact easily with the available functionalities and services that expose the platform. To conclude, using the advantages that the presented solution offers, the project is able to complete a motion planning where the user can have a clear idea of the internal behavior of the involved systems and keep it under control

Objectius de Desenvolupament Sostenible::9 - Indústria, Innovació i Infraestructura