PUMA Software
We have developed a software suite for creating control algorithms in
block diagram form in
Simulink,
generating real-time code using
Real-Time Workshop,
and running them in real-time under
QNX and
RTLinux
to control a PUMA manipulator with the
Servo To Go board and other hardware
that can't be named due to conflict of interest rules at the U of Mn.
RTLinux Drivers
Steve Goetz's
RTLinux Report This explains what to download and how to use the
software. It is useful for the QNX drivers below, too. (Also, see
Rob Martin's
web page on using the QNX/Matlab/Simulink software.)
Downloadable software files (see report above):
QNX Drivers
See Rob Martin's
web page on using the QNX/Matlab/Simulink software.
Download the v1.0 drivers
and docs now for Servo To Go.
README for
Servo To Go is included in
the zip file and explains the installation procedure. There is also
code for "other
hardware". (link to an off-site source)
Calibration code has yet to be ported, but will be ready shortly.
DOS Drivers
DOS is deterministic and can be reliably used as a real-time OS.
We have complete DOS code for the PUMA that comes with its own non-preemptive
scheduler, forward and inverse kinematics, calibration, trajectory generation,
etc. This is based on code from a company and is posted with permission.
RWRCCL - Roger Williams University
RWRCCL is a port of John Lloyd's RCCL package to a single-CPU version by
Matt Stein at Roger Williams
University. A
PDF Description can be found on Matt Stein's web page as well as the
code. (You should check out his
PUMAPaint web interface, as well!)
Matlab Robotics Toolbox - Peter Corke
Peter Corke's Robotic
Toolbox provides a number of useful functions in Matlab and Simulink
using quaternions and homogeneous transforms.
Prof. Voyles' Home Page
(C)2004,2005 Richard Voyles, all rights reserved.
The views expressed do not represent the views of the Regents of the
University of Minnesota, or the Dean, or blah, blah, blah.
voyles [at] cs.umn.edu