DocumentCode :
2329413
Title :
A generic kinematics software package
Author :
Ramadorai, A.K. ; Ganapathy, U. ; Guida, F.
Author_Institution :
Philips Lab., Briarcliff Manor, NY, USA
fYear :
1994
fDate :
8-13 May 1994
Firstpage :
3331
Abstract :
A generic kinematics-based design, simulation and control software package called Generic Motion Control (GMC) software has been developed at Philips Laboratories, Briarcliff Manor, New York, USA. It enables automatic generation of control software for robot manipulator systems and diverse industrial automation machines. Functionality provided by the software includes a kinematics description language and compiler for generating symbolically optimized ANSI C control software, a basic kinematics package for performing coordinate transformation, a trajectory generator module for high-level commands, a calibration module for tuning the kinematic model, and a 3D color graphics module and a graphical command interface for simulations. The software is written in the ANSI C programming language and can be installed on a variety of operating systems including Unix and DOS. The following paper focuses on the capabilities and possible applications of the software package in robot control
Keywords :
automatic programming; digital simulation; graphical user interfaces; kinematics; robot programming; robots; software packages; specification languages; 3D color graphics module; DOS; Unix; calibration module; control software automatic generation; coordinate transformation; generic kinematics software package; generic motion control software; graphical command interface; high-level commands; kinematics description language; robot manipulator systems; symbolically optimized ANSI C control software; trajectory generator module; Automatic control; Automatic generation control; Kinematics; Laboratories; Motion control; Motion planning; Robot control; Robotics and automation; Software packages; Software performance;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
Type :
conf
DOI :
10.1109/ROBOT.1994.351058
Filename :
351058
Link To Document :
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