Difference between revisions of "Asibot - Implemented Modules v0.2"
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=== drv_fake [http://roborepo.uc3m.es/svn/ASIBOTcoderepo/branches/v02/drivers/drv_fake] === | === drv_fake [http://roborepo.uc3m.es/svn/ASIBOTcoderepo/branches/v02/drivers/drv_fake] === | ||
A stand-alone module that simulates a 5 DOF, no joint-limited robot. Position control is totally implemented. Stop commands must be set between velocity commands (for sake of code understandability). No force control has been implemented. | A stand-alone module that simulates a 5 DOF, no joint-limited robot. Position control is totally implemented. Stop commands must be set between velocity commands (for sake of code understandability). No force control has been implemented. | ||
| − | < | + | <center> |
| − | File:drv_fake-1.PNG | + | {| border="0" |
| − | File:drv_fake-2.PNG | + | |- |
| − | File:drv_fake-3.PNG | + | | [[File:drv_fake-1.PNG|170px|border]] |
| − | File:drv_fake-4.PNG | + | | [[File:drv_fake-2.PNG|170px|border]] |
| − | File:drv_fake-5.PNG | + | | [[File:drv_fake-3.PNG|170px|border]] |
| − | File:drv_fake-6.PNG | + | | [[File:drv_fake-4.PNG|170px|border]] |
| − | File:drv_fake-7.PNG | + | | [[File:drv_fake-5.PNG|170px|border]] |
| − | File:drv_fake-8.PNG | + | |} |
| − | File:drv_fake-9.PNG | + | {| border="0" |
| − | </ | + | | [[File:drv_fake-6.PNG|170px|border]] |
| + | | [[File:drv_fake-7.PNG|170px|border]] | ||
| + | | [[File:drv_fake-8.PNG|170px|border]] | ||
| + | | [[File:drv_fake-9.PNG|170px|border]] | ||
| + | |} | ||
| + | </center> | ||
=== drv_ml [http://roborepo.uc3m.es/svn/ASIBOTcoderepo/branches/v02/drivers/drv_ml] === | === drv_ml [http://roborepo.uc3m.es/svn/ASIBOTcoderepo/branches/v02/drivers/drv_ml] === | ||
Revision as of 16:56, 27 April 2010
This page should contain a description of implemented ASIBOT modules. Current implementations refer to Modules - Standard v0.2.
drv_fake [1]
A stand-alone module that simulates a 5 DOF, no joint-limited robot. Position control is totally implemented. Stop commands must be set between velocity commands (for sake of code understandability). No force control has been implemented.
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drv_ml [2]
A module that passes standard v0.2 commands to Marilou ASIBOT. Note that velocity control must be enabled in each motor of the Marilou ASIBOT model. No force control has been implemented.
drv_rave [3]
A module that instantiates a OpenRAVE kitchen with ASIBOT environment. ASIBOT recieves v0.2 commands. Current controller does not break correctly, physiscs activated will make gravity move the stopped robot.