Software and Hardware Platform Development for the Synthesis of Adaptive Algorithms and Methods for Controlling the Behavior of Collaborative Robotic System

The article considers the task of developing a software and hardware architecture for the synthesis of adaptive algorithms and methods of interaction with collaborative robotic complexes. The architecture of a distributed management system has been developed. The paper describes a deterministic technological process, for which the architecture of the complex is being developed. The architecture is presented in the form of a UML diagram of classes, components, and packages. A comparative analysis of message brokers was carried out and the most suitable one for solving the tasks was selected. To ensure valid data transfer between devices, proprietary data types have been developed to transfer them over the network. The proposed architecture is based on the ROS 2 Humble robot operating system.