Real-time control and data acquisition

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.

Real-time control and data acquisition links

  1. RTAI, Xenomai, RT-Linux/GPL, Ecos, RTEMS, Ethernut. The latter three are non-Linux operation systems, targeted at small footprint embedded systems (e.g., without memory management unit, TCP/IP stack or file system); Ethernut is even meant for 8bit computers.
  2. Some control toolbox environments for Linux: