Robot App™ Description
This app compilation offers complete control of a Bioloid robot including a 3d visualisation, xml-based robot modelling, a custom scripting language, the capture of robot movement, a custom firmware, different interpolation types and much more!
* Supports both Windows and Linux machines
* Simulation mode (can be used without a robot)
* Supports custom robot configurations (the geometric and kinematic model, frames and collision objects can be configured in a xml file)
* Easy hardware and software configuration via PC (f.e. Ax12-, PID-controller-, timing-parameters, selection of a movement profiles)
* 3d-Visualisation of the robot (OpenGL)
* Forward kinematics (based on Denavit Hartenberg matrices)
* Inverse kinematics (analytic solution for custom humanoid and custom hexapod (see section robots), rudimentary numerical solution (transpose jacobian technique))
* Fast collision checking (Oriented Boundary Boxes)
* Online robot information in custom console (Linux only, needs ncurses)
* Fail-proof (CRC) communication via RS-232
* Scripting language: Complete control of the robot, extendable
* Capture (continuous and discrete), load, store and join robot movements
* Play motions with different interpolation types (linear, bezier (and splines) in cartesian and joint space)
* Point-To-Point movement in robot and joint space (can be mixed)
* Command system (f.e. walk, turnright)
* Supports Motion Editor files (thanks to Bullit).