Actin coordinates motion of the joints and base for one or more robots. A developer just gives desired tool motion through a simple language, and Actin produces real-time algorithms for setting motor positions and rates. Actin works with almost any joint type or tool type and with an unlimited number of degrees of freedom and branching connections.
The motion you get is miraculous smooth, fluid movement that avoids collisions and joint limits, optimizes strength, and does the work that is needed.
Extensible Markup Language (XML) - developers can easily connect code with components from the Actin toolkit to build XML-configurable C++ objects. In addition to reading and writing themselves in XML, all XML-configurable objects can write their own validating schemas.
Mathematical and Geometrical Tools - Actin provides three-dimensional vector math and matrix routines. Conversion utilities for three-dimensional quantities are included. Orientations can be set from quaternions, Euler angles, Rodrigues parameters, angle-axis, direction cosine matrices, and so forth.
Kinematic Control - Actin automatically calculates joint rates or positions to give desired hand velocities or positions based on the manipulator model description. Manipulators with any number of links, any number of bifurcations (branches), nonstandard joint types, and nonstandard end-effector types are supported. more
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