RTLinux DriversSteve 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 DriversSee 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 Mark V Automation hardware and some other links can be found on my personal site. Calibration code has yet to be ported, but will be ready shortly. DOS DriversDOS 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. |
XR4000 with PUMA |
Peter Corke's Robotic Toolbox provides a number of useful functions in Matlab and Simulink using quaternions and homogeneous transforms.
rvoyles [at] purdue [dot] edu