Difference between revisions of "Asibot - Implemented Modules"
Jgvictores (talk | contribs) |
|||
| Line 27: | Line 27: | ||
=== cmc_recursive ([[cmc_recursive Ubuntu Install|'''Ubuntu''']] / [[cmc_recursive Windows Install|'''Windows''']]) === | === cmc_recursive ([[cmc_recursive Ubuntu Install|'''Ubuntu''']] / [[cmc_recursive Windows Install|'''Windows''']]) === | ||
Based on recursive methods, such as Newton-Raphson. Should work fine between any interface and a JMC. Further reference at [http://robots.uc3m.es/trac/ASIBOTcoderepo/doxygen/cmc_recursive/html/index.html Code Documentation: cmc_recursive]. | Based on recursive methods, such as Newton-Raphson. Should work fine between any interface and a JMC. Further reference at [http://robots.uc3m.es/trac/ASIBOTcoderepo/doxygen/cmc_recursive/html/index.html Code Documentation: cmc_recursive]. | ||
| + | |||
| + | === cmc_rate === | ||
| + | This CMC is intended for receiving streaming rate commands (cartesian velocities), mainly from low-level user input devices. Like the SpaceNavigator. It has joint velocities as output. Only velocities in end-effector frame is allowed as input (I:5). If no command is received the module automatically sends a zero output velocity to all joints. | ||
== Category: Sensor == | == Category: Sensor == | ||
Revision as of 11:10, 11 April 2011
ASIBOT Implemented Robot Components
|
|---|
| This page contains descriptions of Robot Component Guidelines v0.3 (RCGv03) ASIBOT components. Click here for RCGv02's specs. |
Fully functional on RCGv02: jmc_rave, jmc_can, cmc_recursive, hmi_web, tol_file, hmi_wiimote.
Fully functional on RCGv03: jmc_rave, cmc_recursive.
Category: Joint Motion Controllers
These modules' behaviour corresponds to Robot Component Guidelines v0.3 commands for JMCs. Link to RCGv02 command format.
jmc_rave (Ubuntu / Windows)
A module that instantiates a OpenRAVE kitchen with ASIBOT environment. No force control has been implemented. Further reference at Code Documentation: jmc_rave.
|
jmc_can (RT-Linux)
Controlls real robot.
Category: Cartesian Motion Controllers
These modules' behaviour corresponds to Robot Component Guidelines v0.3 commands for CMCs.
cmc_recursive (Ubuntu / Windows)
Based on recursive methods, such as Newton-Raphson. Should work fine between any interface and a JMC. Further reference at Code Documentation: cmc_recursive.
cmc_rate
This CMC is intended for receiving streaming rate commands (cartesian velocities), mainly from low-level user input devices. Like the SpaceNavigator. It has joint velocities as output. Only velocities in end-effector frame is allowed as input (I:5). If no command is received the module automatically sends a zero output velocity to all joints.
Category: Sensor
These modules' behaviour corresponds to Module Guidelines v0.3 commands for SNSs.
sns_xsens
A wrapper module for Xsense IMU.
http://robots.uc3m.es/svn/ASIBOTcoderepo/trunk/sns_xsens
Category: HMI
hmi_wiimote
A wrapper module for wiimote driver. Basic interface is as a sensor.
http://robots.uc3m.es/svn/ASIBOTcoderepo/trunk/hmi_wiimote
hmi_3d (Ubuntu)
Category: Vision
vis_rsanchez
Currently under development, integrates OpenCV and GTK. Check out the recent video. <!DOCTYPE HTML> <video width="320" height="240" controls="controls"><source src="movie.ogg" type="video/ogg" /><source src="movie.mp4" type="video/mp4" />Your browser does not support the video tag.</video>