Free White Paper: Robot Kinematic Control

This white paper describes Energid’s kinematic control software, which is part of the Actin® SDK.

Actin provides generic control for kinematically redundant serial and bifurcating manipulators. It uses a patented configurable augmented Jacobian control technique that is implemented within a software framework that allows the easy creation of supervised and traded control systems using C++. Through Extensible Markup Language (XML) configuration, Energid’s system allows the accommodation of even the most complex mechanisms, multiple end-effector constraints, different optimization criteria, and control-system exchange at runtime.

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