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EasyOROCOS CAD is an interface which supports the interactive definition of a manipulator kinematics (and 3D geometry), and from that it generates an Orocos controller of the manipulator, in the form of a task running under Linux RTAI.
Three animations show examples of use of this software: how a link can be developed, how links can be assembled to build a new robot, and how the robot motion can be simulated.
The software is released under LGPL license.
Source Code
The code of the EasyOROCOS project can be roughly divided in five packages.
The first package manages the GUI of the application. It is coded in C++ following the OO approach.
The second package manages real time communication with external programs such as the
dynamic simulator of the robot model and the real time controller of the robot.
The third package manages the generation of the OROCOS code for the robot controller. It is coded in C++ following the OO approach.
The fourth package manages the data structures used to describe the robot kinematical chain. It is coded in C.
The fifth package implements a 3D BREP modeller based on the Boundary REPresentation of solid objects. It is coded in C.
Different subfolders are present under the main folder of the project. Each subfolder contains the source code of routines belonging to the same package.
The EasyOROCOS CAD can be downloaded in one of the following versions:
After downloading you are kindly invited to send an email to
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with your name, institution and use of EasyOROCOS CAD. You will then be informed of new software releases.
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