EasyOROCOS CAD is an interface which supports the interactive definition of a manipulator kinematics (and 3D geometry), and from that it generates an Orocos controller of the manipulator, in the form of a task running under Linux RTAI. Check out the EasyOrocos CAD website for animations that show these examples: how a link can be developed, how links can be assembled to build a new robot, and how the robot motion can be simulated.
The software is released under LGPL license. The authors invite their users to send an email to let them know they are interested in the software.
NOTE: Requires Orocos RTT 1.4 or above.
NOTE: Although this software uses kinematics, it does not (yet) use the Orocos Kinematics and Dynamics library.