DENOMINACIÓN Software library for the development of real-time ROS-based controllers

This library for the development of ROS-based real-time controllers offers a software package for generating applications based on an advanced centralized architecture and allowing advanced strategies for supplementing the limits of the controllers' capabilities from robot manufacturers. This software employs Open Source technologies that enable the integration, coordination, and synchronization of the robots of the different manufacturers (KUKA, UR, ABB, among others) with industrial processes and external sensors. Therefore, the library offers a framework that integrates all industrial autonomous process machines with collaborative production. This library is characterized by its ability to manage the robot control and its synchronization with other real-time processes. Thus, it is guaranteed that the deterministic response of the robot control algorithms, being able to guarantee the duration of cycle times during the operation and synchronization of the robot. In turn, this framework eases the synchronization between the processes of industrial machines and the operations carried out by industrial robots. Therefore, the entire industrial process is synchronized and integrated into a real-time control framework for robotic systems