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. Check out the EasyOrocos CAD website for animations that show these examples: how a link can be developed, how links can be assembled to build a new robot, and how the robot motion can be simulated. Simulating motion: The tool can simulate and generate the controller code for the real robot.

The result of a master thesis: connecting Blender with OROCOS to execute milling tasks.


The demo was filmed by the students with a small camera. Sorry for the shaking at times !

The ACM research group of the K.U.Leuven used Orocos Real-Time Toolkit as framework for an involved robotics application as well as Orocos Bayesian filtering library and Kinematics and Dynamics Library as detailed in this paper.
The experiment consists of a complex task—“human-aware task execution”—involving two robot arms, five PCs interconnected by ethernet, and half a dozen or so sensors.

The Flander's Mechatronics Technology Centre ( www.fmtc.be ) has released a toolbox for creating Orocos components in Matlab/Simulink from The Mathworks. It lets you generate from Real-Time Workshop a ready to use component from a Simulink model. The toolbox works for Simulink in Linux and Windows and comes with a Windows installer and a user manual. Click below to read the rest of this post.

The Berlin Racing Team of the 2007 Urban Grand Challenge Competition is using the Orocos Real-Time Toolkit as framework for building software components. They are one of the semifinalists selected by DARPA. There is an impressive movie (84MB) of this car in action.
You can read more about the use of Orocos on their website. See also their main page for a full overview of this project.
The core of the team consists of researchers and students of Freie Universität Berlin working together with partners from the Fraunhofer Gesellschaft (IAIS), and Rice University in Houston, Texas.

Compliant motion task specification by human demonstration

Programming by human demonstration exploits the advanced human manipulation skills to obtain a task description of a complex compliant motion task.

3D Motion tracking

Image Based Visual Servoing using RTT 1.0

At KULeuven we succesfully succeeded in doing some real experiments showing image-based visual servoing. Every part of the application is created with RTTs TaskContext. The setup consists of a hacked industrial Kuka-361 robot, a firewire camera attached to the robots end-effector and a Pentium IV PC.

The first example shows a prototype realtime control application using Krypton's 6D measurement device K600 CMM. (Click the images for MPEG videos.) The K600 measurement device consists of three linear cameras that measure the 3D coordinates of pulsed infrared LEDs. The spatial accuracy is in the order of 10 to 100 microns, in a workspace of several meters in depth.