The Robotics Demonstration and Test team, in the NASA Goddard Satellite Servicing Capabilities Office, used the Orocos ecosystem to control a Motoman SIA10D industrial robot to demonstrate autonomous visual tracking of both cooperative, and uncooperative, targets in microgravity.
Real-time control and data acquisition
|Submitted by snrkiwi on Sun, 2011-09-18 19:33|
|Submitted by Wilm Decre on Wed, 2011-01-26 09:38|
|Submitted by Tinne De Laet on Thu, 2008-07-24 16:49|
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.
- RTAI, Xenomai, RT-Linux/GPL, Ecos, RTEMS, Ethernut. The latter three are non-Linux operation systems, targeted at small footprint embedded systems (e.g., without memory management unit, TCP/IP stack or file system); Ethernut is even meant for 8bit computers.
- Some control toolbox environments for Linux: