Difference between revisions of "Asibot - Implemented Modules v0.2"

From Asibot & HOAP3 & TEO Wiki
Jump to navigation Jump to search
m
Line 4: Line 4:
 
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>
 
<center>
{|   border="0"  
+
{| border="0"
 
|-  
 
|-  
 
| [[File:drv_fake-1.PNG|170px|border]]
 
| [[File:drv_fake-1.PNG|170px|border]]
Line 12: Line 12:
 
| [[File:drv_fake-5.PNG|170px|border]]
 
| [[File:drv_fake-5.PNG|170px|border]]
 
|}
 
|}
{|   border="0"  
+
{| border="0"
 
| [[File:drv_fake-6.PNG|170px|border]]
 
| [[File:drv_fake-6.PNG|170px|border]]
 
| [[File:drv_fake-7.PNG|170px|border]]
 
| [[File:drv_fake-7.PNG|170px|border]]
Line 22: Line 22:
  
 
----
 
----
 +
 
=== 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] ===
 
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.
 
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.

Revision as of 19:23, 28 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.

Drv fake-1.PNG Drv fake-2.PNG Drv fake-3.PNG Drv fake-4.PNG Drv fake-5.PNG
Drv fake-6.PNG Drv fake-7.PNG Drv fake-8.PNG Drv fake-9.PNG



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. No force control has been implemented.

Drv rave-3.jpg