Implementing Custom Link Kinematics in Energid’s Actin SDK

Energid’s Actin SDK is a C++ robotic control toolkit that can be used to model and simulate almost any type of manipulator. Users can define a robotic system, specify tasks and constraints, and Actin will determine the necessary joint motions.

One of Actin’s advantages is its compatibility with many different types of robots. One feature I found particularly useful when using the SDK to control a non-traditional robotic device was the ability to define custom link kinematics. While Actin has standard link kinematics (such as prismatic or rotational) implemented, my task required an oval track joint where the robot would travel along an oval-shaped track. Fortunately, the Actin SDK provides a general base class, EcLinkKinematics, that can be used to implement custom link kinematics.

In this blog post, I will demonstrate how to use EcLinkKinematics by implementing a circle track joint class.

To read the full post, click here to be taken to DMC's blog.