The Actin-SE control software makes control of the Cyton fast and easy. Actin-SE provides multiple optimization strategies for coordinated motion and path planning allowing developers to focus on where the hand or gripper needs to go without worrying about how to move the joints to get there.
Controlling a kinematically redundant arm such as the Cyton is hard. There may be unlimited ways to move the joints to achieve the desired hand motion. Actin-SE solves this problem in an optimal way based on your requirements. It provides an optimized control system that simultaneously avoids joint limits, singularities, and collisions all while minimizing kinetic energy. In addition, multiple optimizations can be cascaded to build extremely powerful control systems in hours, not days or weeks.
Actin-SE provides a professional front-end GUI and an accurate kinematic simulation. It also provides a rich C++ API for programmatically building control strategies for the arm. Combined with Energid's peerless support Actin-SE will ensure your project is a success.
Optimizations Supported:
- Joint Limit Avoidance
- Singularity Avoidance
- Collision Avoidance
- Error Recovery
End-effector Constraints:
- 2D/3D Point Placement
- 3D Orientation/Pose
- Linear Constraint
- Center of Mass
- Spatial Momentum
- Free spin in Z
- Soft Constraints
Actin-SE Key Features:
- End-effector control Interactively control end-effector placement directly with a mouse or 3D input device.
- Graphical Programming Interface The Actin SE GUI makes it easy for non-programmers to script simple and sophisticated motions for the robot.
- Kinematic and dynamic simulation Simulate new tasks, environments, and configurations digitally before applying hardware.
- 3D visualization Visualize high fidelity robot models. Zoom, change the eyepoint, and change the center of interest.
- Record/playback Record end-effector and joint paths for replay.
- Movie generation Create high quality AVI movies of the robot in action
- Data capture Capture both kinematic and dynamic information during simulation or control. Data can be stored in MATLAB-, Mathematica-, or Excel-compatible formats
- Dynamic plotting All diagnostic information that can be captured for export can also be plotted graphically in real time
- Network interface Set desired end-effector and joint values remotely over the network through a TCP/IP or Skype interface
- Cross-platform support The Actin-SE can be delivered under Linux or Windows
If you have any questions, please contact us.
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