Coordinated External Axes
Collision Avoidance and Detection
Joint Limit Avoidance
Motion Optimization using Constraints
Moving Part Target
Realtime Path Adjustment
Architected for Visually Guided Motion
A full desktop application where you can configure the robot environment, tune the control model, write robot tasks in Actin’s simple high-level scripting language (EcScript), and simulate and visualize the results. The Actin Viewer supports loading and simulating tool paths, complex motion, moving target objects, external axis coordination, and more. Import CAD models in a variety of formats or use the included SOLIDWORKS Add-in for Actin to model a custom axis or 3rd party robot.
The Actin Robot Control Framework (RCF) is a flexible, XML-based control application that includes a global data store, multi-threaded controller, state machines modeling the robot system and modifiable data-transfer layers to interface to hardware. This framework is completely extensible and offers robust, tested real-time control (requires QNX 7 RTOS for realtime. Linux and Windows support near real-time control).
A user interface with remote connection to the Actin RCF controller. This includes a visual rendering of the robot with collision alert, ability to clear protective stops. Map UI buttons to your script tasks to create a simple and effective console to test and demonstrate your application. Actin Viz can be modified to create operator interfaces using the advanced user interface tools available under Qt/QML.
With twenty years of tested industrial robotics control, the Actin CORE libraries offer an extensive set of optimized motion control, inverse kinematics, path planning and dynamic optimization modules. These are all extendable by the robot developer. Actin RCF is built on top of Actin CORE and provides a scripting interface to the underlying motion control libraries.
We’ve also included template applications for starting your development. Basic projects for a wide array of tasks for inspection, welding, dispensing and pick and place are included with the Actin UR software. Begin with these basic projects and develop your own highly customized robot control solution.
An industrial computer with the Actin UR software preloaded and configured for UR control. The PC specs include Intel i9 10th gen processor, 8 GB RAM, 256 GB SSD, 2 x Ethernet interface (EtherCAT compatible), USB 3 x 8 ports, Ubuntu 20.04 operating system.
Just specify the starting and ending point. Using dynamic planning and soft constraints, the Actin controller will optimize the motion trajectory avoiding collisions, joint limits and singularities. You can control the velocity along tools paths and let Actin determine the best gripper pose to accomplish the task. Tasks are written based on relative object location, and those objects can be moving. Toolpaths can float and Actin will maintain the path as long as it’s within reach. Tasks are defined independent of the robot hardware, so you can swap a UR10e for a UR5e and get the same functionality without re-coding. To learn more about the details of our natural tasking approach, read this article: Natural Tasking Article - Engineering.com
Actin is designed to control single or multiple manipulators, included branched or extended kinematic chains. With Actin UR, you can coordinate motion of more than six axes. For example, a 6DOF robot on a rail to extend reach, or with a turntable for inspecting parts, or with an actuated end-effector. The combinations are limitless and include the control of multiple coordinate robots.
Simulate the world environment, including imported objects with collision volumes from CAD. Switch from simulation to live robot control with a click of a button. Explore workspace limits and develop full application in simulation before integrating with hardware.
Much more capable than offline tools, you can adjust optimization weights for joint limit avoidance, collision avoidance, joint preference and minimization of kinetic energy. Control descriptors allow you to swap optimizations in real time. Soft constraints allow movement around obstacles, out of bins, and avoidance of visually detected moving obstacles.
Front & Back views.
Upgraded IPC (fanless)
i9 processor, 10th gen
256 GB M.2 SSD
Explore the development features and processes and check out the various sample tasks included with Actin.
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