In order to lower the learning curve, people are requesting often complete application examples which demonstrate well known application architectures such as kinematic robot control. This work package fleshes out that example.

Links : (various posts on Orocos mailing lists)

Estimated Work : 5 days for the application architecture with documentation

Tasks:

4.1 Universal Robot Controller (Using KDL, OCL, standard components)

This application has a robot component to represent the robot hardware, a controller for joint space and cartesian space and a path planner. Users can start from this reference application to control their own robotic platform. Both axes and end effector can be controlled in position and velocity mode. A state machine switches between these modes. A GUI is not included in this work package.