| Embedded Systems Programming - December 2000 - Software Components for Real Time
|
| TABLE 1
|
Example of PBO software components in a library
|
|
|
Name
|
Function
|
Description
|
| rmms
|
Robot interface
|
Hardware-dependent interface to the Reconfigurable Modular Manipulator System (RMMS)
|
| gfwdkin
|
Generalized forward kinematics
|
Compute Forward Kinematics based on the DH-parameters obtained during initialization of the module
|
| ginvkin
|
Generalized
inverse kinematics
|
Computer Inverse Kinematics based on the DH-parameters obtained during initialization of the module
|
| tball
|
Trackball interface
|
A hardware-dependent interface to a six-degree of-freedom trackball
|
| cinterp
|
Cartesian trajectory interpolator
|
Given the current measured position and the desired final position, compute the intermediate reference positions
|
| puma
|
Puma interface
|
Hardware-dependent interface to Puma 560 robot
|
| pfwdkin
|
Puma forward kinematics
|
Compute forward kinematics for a Puma 560 robot
|
| pinvkin
|
Puma inverse kinematics
|
Compute inverse kinematics for a Puma 560 robot
|
