With the Actin C++ control toolkit, roboticists are free to focus on what the robot does and where the hands and tools should be, not on how they get there. For mechanisms with many moving parts, hand and tool motion can be accomplished in an unlimited number of ways. Actin automatically takes advantage of this kinematic redundancy for robot collision avoidance, joint limitation avoidance, and minimized motion and optimized strength in robotic control.

Actin supports the following motion types:

Collision Avoidance
Joint Limit Avoidance
Singularity Avoidance
Strength Optimization
Minimum Kinetic Energy Control
Minimum Potential Energy Control
Simulation Based Control
Error Reduction
Failure Recovery
User Defined

Actin supports the following constraint types:

3D Point
3D Orientation
3D Pose
2D Point
Planar
Tracked Motion
Wheeled Motion
Center of Mass
Linear Constraint
Spatial Momentum

Would you like to learn more about the control types Actin supports? Or would you like to learn how to add a new control type through the plugin interface? Please contact us.