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Software

Software packages developed by the SIR group

The Kautham Project is a software tool used at the Institute of Industrial and Control Engineering (IOC-UPC) for teaching and research in robot motion planning. The tool allows to cope with problems with one or more robots, being a generic robot defined as a kinematic tree with a mobile base. i.e. the tool can plan and simulate from simple two degrees of freedom free-flying robots to multi-robot scenarios with mobile manipulators equipped with anthropomorphic hands. The main core of planners is provided by the Open Motion Planning Library (OMPL). Different basic planners can be flexibly used and parameterized, allowing students to gain insight into the different planning algorithms. Among the advanced features the tool allows to easily define the coupling between degrees of freedom, the dynamic simulation and the integration with task planers. It is principally being used in the research of motion planning strategies for hand-arm robotic systems.

Features

  • Uses OMPL suite of planners (geometric and control based)
  • Uses PQP collision detection library
  • Uses Coin3D for visualization
  • Uses ODE physics engine
  • Robot models are defined using urdf or DH parameters coded in an XML file
  • Describes robots as kinematic trees with a mobile base (SE3xRn configuration space)
  • Geometry is described in VRML files
  • Allows multi-robot systems
  • Allows the coupling of degrees of freedom
  • Can be encapsuled as a ROS node

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Abstract

The Kautham Project is a software tool used at the Institute of Industrial and Control Engineering (IOC-UPC) for teaching and research in robot motion planning. The tool allows to cope with problems with one or more robots, being a generic robot defined as a kinematic tree with a mobile base. i.e. the tool can plan and simulate from simple two degrees of freedom free-flying robots to multi-robot scenarios with mobile manipulators equipped with anthropomorphic hands. The main core of planners is provided by the Open Motion Planning Library (OMPL). Different basic planners can be flexibly used and parameterized, allowing students to gain insight into the different planning algorithms. Among the advanced features the tool allows to easily define the coupling between degrees of freedom, the dynamic simulation and the integration with task planers. It is principally being used in the research of motion planning strategies for hand-arm robotic systems.

Features

  • Uses OMPL suite of planners (geometric and control based)
  • Uses PQP collision detection library
  • Uses Coin3D for visualization
  • Uses ODE physics engine
  • Robot models are defined using urdf or DH parameters coded in an XML file
  • Describes robots as kinematic trees with a mobile base (SE3xRn configuration space)
  • Geometry is described in VRML files
  • Allows multi-robot systems
  • Allows the coupling of degrees of freedom
  • Can be encapsuled as a ROS node

kautham.png

Related Links


This repository contains the software packages developed by the SIR group, either as modified versions of existing open source packages or entirely developed on our own.

Coindesigner

Fork of coindesigner from sourceforge

Coindesigner is a RAD (rapid application development) system to build 3D applications using Coin3D openInventor. It allows writing simple 3D scenarios just using drag&drop;, so users require no programming skills to use it.

Features

Coindesiginer was originally written by Jose M. Espadero and Tomas Aguado (2004-2008). This version is a fork that:

  • Incorporates CMake as build system
  • Imports files using Assimp library
  • Can save the model in pointcloud PCD format
  • Includes Debian packaging

The Fast Research Interface Library intends to provide a simple user interface to the KUKA Light-Weight Robot IV and hides all communication and set-up issues behind interface. It is only an interface and it does not contain any control functionalities.

Features

This version is a fork that:

  • Incorporates CMake as build system
  • Builds the library in dynamic and static formats
  • Builds a realtime version when Xenomai is found
  • Includes Debian packaging

peak-linux-driver

Peak-linux driver for Debian

The Allegro mechanical hands and the Schunk SDH gripper use the Can bus to operate. We have updated and maintained the Peak-linux driver for Debian to use in our boxes. It will be mirroring from/to Alioth.debian.org


reflexxes

Reflexxes Motion Libraries

The Reflexxes Motion Libraries contain algorithms to deterministically compute motion trajectories instantaneously. This highly reactive concept with worst-case computation times in the range of microseconds opens the door to new applications in robotics, CNC machining, and servo drive control systems. No other concept is more efficient.

Features

This version is a fork that:

  • Incorporates CMake as build system
  • Builds the library in dynamic and static formats
  • Includes Debian packaging

ioc-roblab

Metapackage for Debian packages

Metapackage for the Debian packages needed in our robotic lab computers. It contains a virtual packages that we use to install software in our boxes.


cpp4ec

EtherCat for CPP

EtherCat for CPP. The main objective of this library is to encapsulate the soem library in a class to use in a C++ program. The library is inspired in the philosophy of the soem master, but decoupling from the orocos framework. It can also use Xenomai as Realtime interface.

This version is developed entirely by the SIR group.


soem

Metapackage for Debian packages

Fork from the original version of berlios with rt capabilities.

SOEM is an EtherCAT master library written in C. Its purpose is to learn and to use. All users are invited to study the source to get an understanding how an EtherCAT master functions and how it interacts with EtherCAT slaves.

Features

This version is a fork that:

  • Incorporates CMake as build system
  • Builds the library in dynamic and static formats
  • Builds a realtime version when Xenomai and RTNET are found

This repository contains the software packages developed by the SIR group, either as modified versions of existing open source packages or entirely developed on our own.

Coindesigner

Fork of coindesigner from sourceforge

Coindesigner is a RAD (rapid application development) system to build 3D applications using Coin3D openInventor. It allows writing simple 3D scenarios just using drag&drop;, so users require no programming skills to use it.

Features

Coindesiginer was originally written by Jose M. Espadero and Tomas Aguado (2004-2008). This version is a fork that:

  • Incorporates CMake as build system
  • Imports files using Assimp library
  • Can save the model in pointcloud PCD format
  • Includes Debian packaging

Contributors


The Fast Research Interface Library intends to provide a simple user interface to the KUKA Light-Weight Robot IV and hides all communication and set-up issues behind interface. It is only an interface and it does not contain any control functionalities.

Features

This version is a fork that:

  • Incorporates CMake as build system
  • Builds the library in dynamic and static formats
  • Builds a realtime version when Xenomai is found
  • Includes Debian packaging

Contributors


peak-linux-driver

Peak-linux driver for Debian

The Allegro mechanical hands and the Schunk SDH gripper use the Can bus to operate. We have updated and maintained the Peak-linux driver for Debian to use in our boxes. It will be mirroring from/to Alioth.debian.org

Contributors


reflexxes

Reflexxes Motion Libraries

The Reflexxes Motion Libraries contain algorithms to deterministically compute motion trajectories instantaneously. This highly reactive concept with worst-case computation times in the range of microseconds opens the door to new applications in robotics, CNC machining, and servo drive control systems. No other concept is more efficient.

Features

This version is a fork that:

  • Incorporates CMake as build system
  • Builds the library in dynamic and static formats
  • Includes Debian packaging

Contributors


ioc-roblab

Metapackage for Debian packages

Metapackage for the Debian packages needed in our robotic lab computers. It contains a virtual packages that we use to install software in our boxes.

Contributors


cpp4ec

EtherCat for CPP

EtherCat for CPP. The main objective of this library is to encapsulate the soem library in a class to use in a C++ program. The library is inspired in the philosophy of the soem master, but decoupling from the orocos framework. It can also use Xenomai as Realtime interface.

This version is developed entirely by the SIR group.

Contributors


soem

Metapackage for Debian packages

Fork from the original version of berlios with rt capabilities.

SOEM is an EtherCAT master library written in C. Its purpose is to learn and to use. All users are invited to study the source to get an understanding how an EtherCAT master functions and how it interacts with EtherCAT slaves.

Features

This version is a fork that:

  • Incorporates CMake as build system
  • Builds the library in dynamic and static formats
  • Builds a realtime version when Xenomai and RTNET are found

Contributors


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