Asibot - Implemented Modules
|This page contains descriptions of Robot Component Guidelines v0.3 (RCGv03) ASIBOT components. Click here for RCGv02's specs.|
Category: Joint Motion Controllers
A module that instantiates a OpenRAVE kitchen with ASIBOT environment. No force control has been implemented. Further reference at Code Documentation: jmc_rave.
Controlls real robot.
Category: Cartesian Motion Controllers
These modules' behaviour corresponds to Robot Component Guidelines v0.3 commands for CMCs.
Based on recursive methods, such as Newton-Raphson. Should work fine between any interface and a JMC. Further reference at Code Documentation: cmc_recursive.
This CMC is intended for receiving streaming rate commands (cartesian velocities), mainly from low-level user input devices. Like the SpaceNavigator. It has joint velocities as output. Only velocities in end-effector frame is allowed as input (I:5). If no command is received the module automatically sends a zero output velocity to all joints.
These modules' behaviour corresponds to Module Guidelines v0.3 commands for SNSs.
A wrapper module for Xsense IMU.
A wrapper module for wiimote driver. Basic interface is as a sensor.
A wrapper module for the SpaceNavigator 6 DOF joystick on Linux ('spacenavd' driver: http://spacenav.sourceforge.net/).
A wrapper module for the SpaceNavigator 6 DOF joystick on Windows (original driver from 3DConnexion).
Currently under development, integrates OpenCV and GTK. Check out the recent video.