Using Orocos to visually track a free-floating target in micro-gravity

The Robotics Demonstration and Test team, in the NASA Goddard Satellite Servicing Capabilities Office, used the Orocos ecosystem to control a Motoman SIA10D industrial robot to demonstrate autonomous visual tracking of both cooperative, and uncooperative, targets in microgravity. NASA robot visually tracking a free-floating, non-cooperative targetNASA robot visually tracking a free-floating, non-cooperative target

Dynamic parameter identification of a robot and its payload

Experimental parameter estimation of an Industrial 6-DOF Robot (KUKA KR30HA) and its payload using periodic excitation trajectories. Click below to read the rest of this post.

Constraint-based motion specification application using two robots

The ACM research group of the K.U.Leuven used Orocos Real-Time Toolkit as framework for an involved robotics application as well as Orocos Bayesian filtering library and Kinematics and Dynamics Library as detailed in this paper.
The experiment consists of a complex task—“human-aware task execution”—involving two robot arms, five PCs interconnected by ethernet, and half a dozen or so sensors.

Robotics links

  1. RACK, the Robotics Application Constructions Kit provides a middleware to ease and standardise the development of industrial and academic control software for robots. Specifically, it aims at supporting mobile service robot scenarios. RACK's real-time components are implemented in C++ and make use of the real-time services provided by Xenomai. Non-real-time components concentrate on GUI elements which are implemented in Java, and extending this support to Linux C/C++ applications is