- European Robotics Forum 2011 Workshop on the Orocos Toolchain
- European Robotics Forum 2012: workshops
- Geometric relations semantics
- KDL wiki
- Kuka LBR user group
- Links of Orocos components
- OCL wiki
- RTT wiki
- Wiki for site admins
- iTaSC wiki
iTaSC (instantaneous Task Specification using Constraints) is a framework to generate robot motions by specifying constraints between (parts of) the robots and their environment. iTaSC was born as a specification formalisms to generalize and extend existing approaches, such as the Operational Space Approach, the Task Function Approach, the Task Frame Formalism, geometric Cartesian Space control, and Joint Space control.
The iTaSC concepts apply to specifications in robot, Cartesian and sensor space, to position, velocity or torque-controlled robots, to explicit and implicit specifications, and to equality and inequality constraints. The current implementation, however, is currently still limited to the velocity control and equality constraints subset.
Warningthe documentation effort lags behind the conceptual and implementation effort, the best documentation can be found in our papers! (see Acknowledging iTaSC and literature)
It is currently highly recommended to use the Devel branch, a formal release is planned before the end of 2013 (iTaSC DSL and stacks)