An object-oriented implementation of low-level digital control algorithms in the Microsoft Windows/C++ environment

This paper describes an object-oriented implementation model for low-level digital control algorithms (i.e., directly servoing the joint actuator) used in robotics and automation applications. Employing the object-oriented programming (OOP) approach, this technique defines said algorithm as a self-standing entity-a C++ class-which interacts with higher control modules (e.g., task or path planners) through a standardized interface. The result is an autonomous control object which may be easily exchanged, improved and reused across controller platforms. Furthermore, when implemented in conjunction with dynamic linking services provided by such operating systems as Microsoft Windows, the control algorithm becomes a software “building block” which the user selects and attaches to the controller at run-time rather than compile-time. This approach has been applied with success in the controller software for an experimental two-degree-of-freedom robot developed in support of a comprehensive program of digital control research activities