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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Loffler, M.S. Dawson, D.M. Zergeroglu, E. Costescu, N.P. |
| Copyright Year | 2001 |
| Description | Author affiliation: Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA (Loffler, M.S.) |
| Abstract | Software development for the control of robotic manipulators is a complex task because it requires expertise in many areas (e.g., robotics, real-time programming, hardware integration, concurrency, etc.). Because of this fact, it is difficult to develop a common software platform supporting the diversity of robotic research areas and robotic hardware. Even though a large number of robotic languages, libraries, and tools have been created, they are seldom reused. That is, many research teams develop their own software platform from scratch because existing platforms are too inflexible with regard to modifications and too complex to understand. The authors of this paper believe that code reuse is fostered by providing a lightweight platform rather than requiring the user to modify a complex system. Along this line of reasoning, this paper describes the QMotor Robotic Toolkit (QMotor RTK). The RTK is a set of C++ libraries and programs that follow object-oriented concepts to ensure code reuse, modularity, scalability, and an intuitive code structure. The RTK is a homogeneous system that consists only of PC software. The RTK includes joint level control programs for the Puma 560 manipulator, the Barren Whole Arm Manipulator (WAM), and the Integrated Motion Inc. (IMI) two-link manipulator as well as a joint level trajectory generator and a graphical user interface (GUI). |
| Sponsorship | American Autom. Control Council |
| Starting Page | 4520 |
| Ending Page | 4525 |
| File Size | 771617 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780364953 |
| ISSN | 07431619 |
| DOI | 10.1109/ACC.2001.945691 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2001-06-25 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | American Automatic Control Council(AACC) |
| Subject Keyword | Manipulators Robot control Hardware Servosystems Graphical user interfaces Control systems Robot programming Concurrent computing Software libraries Force feedback |
| Content Type | Text |
| Resource Type | Article |
| Subject | Electrical and Electronic Engineering |
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