hmartiro

This document describes how to communicate with and control robotic products from Barrett Technologies, such as the WAM Arm and BarrettHand, from a computer running stock Ubuntu. In particular, it describes how to achieve good performance without being restricted to Xenomai, the real-time framework supported by Barrett.

Disclaimer: Running in non-realtime by definition gives no hard guarantees. While this method has supported robust torque control in operational space, please do not implement it on your production baby-feeding robot and then blame me.

Ingredients:

hmartiro

ZeroMQ vs Redis

This document is research for the selection of a communication platform for robot-net.

Goal

The purpose of this component is to enable rapid, reliable, and elegant communication between the various nodes of the network, including controllers, sensors, and actuators (robot drivers). It will act as the core of robot-net to create a standardized infrastructure for robot control.

Requirements: