Generic embedded drivers for robot tele-manipulator joints

In this work we introduce the development of custom embedded servo-drivers intended to control robotic tele-operation joints. We present a class architecture which makes them simple to modify and improve, so as to implement a wide variety of control schemes in a fast and efficient manner. The tele-operation system under development is to be employed to operate industrial robots throughout inspection tasks in nuclear plants. The main features of the drivers developed for the task at hand are detailed in this work, as well as its validation trough experimental results obtained from an impedance controller implemented on a 1 DOF prototype.