Actin: Control Capabilities

Real-Time Control for Robotic Systems

The Actin® SDK can be used to create real-time controllers for robotic hardware. The Actin control framework is built on a powerful motion constraint and optimization engine.

With the Actin SDK, 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, minimized motion, optimized strength in robotic control and more.

Motion Optimizations

Motion Constraints

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


Actin can import models from CAD formats and includes a plug-in for SolidWorks. Actin can control virtually any robotic mechanism—both off the shelf and custom. Actin executables can be accessed directly or via network interfaces. And Energid engineers are standing by for support that provides the ultimate adaptive experience.



  • Dynamic Motion Control
    Actin responds and adapts in real time, adjusting its paths based on the perceived environment.
  • Broad Platform Support
    Actin offers platform support for Windows, Linux, OSX, RTOS32, RTX64, and VxWorks variants
  • Simplified Programming
    Actin runs at a task level rather than joint-by-joint and motion-by-motion. Designers and engineers can use Actin’s graphical user interface to intuitively and adaptively compose dynamic motion sequences. No programming skill is needed. But if deeper access is desired, Actin is also programmable via a powerful C++ API.
  • Dynamic Collision Avoidance
    Because Actin motion planning happens on the fly, advanced behaviors like collision avoidance become more dynamic too. Actin Robot Control doesn’t just stop its systems to avoid collisions but rather moves its robotic assets out of each others’ way in real time.


With Actin powering your robotics solutions, you can look forward to

  • Faster time-to-market
  • Reduced software development costs
  • Reduced risk
  • Unparalleled control

Robot Kinematic Control with the Actin SDK

Real-Time Adaptive Control
For Any Robot
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