Asibot - Implemented Modules
ASIBOT Implemented Robot Components
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| 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.
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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.
http://robots.uc3m.es/svn/ASIBOTcoderepo/branches/cmc_rate
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)
A wrapper module for the SpaceNavigator 6 DOF joystick on Linux ('spacenavd' driver: http://spacenav.sourceforge.net/).
http://robots.uc3m.es/svn/ASIBOTcoderepo/branches/hmi/hmi_spacenavigator
A wrapper module for the SpaceNavigator 6 DOF joystick on Windows (original driver from 3DConnexion).
http://robots.uc3m.es/svn/ASIBOTcoderepo/branches/hmi/hmi_spacenavigator_win32
Category: Vision
vis_rsanchez
Currently under development, integrates OpenCV and GTK. Check out the recent video.