Re: COMAU open control - a first reply

On Wed, 10 Jan 2001, Basilio Bona wrote:

> > [...]
> > > have acquired a COMAU Smart S2 Robot with an "open" C3G control.
[...]
> Using a second group operating mode, the PC interacts with the
> Controller at a joint position control level, at a frequency of 1
> KHz.  Using one of these modes, most of the Controller is disabled
> and the user is responsible for most of the control functions.
This is a nice feature, at least for research purposes. I guess they
use a ad-hoc API to interface to the Controller? Is this API
published, such that we could look at it as a starting point for (part
of) what we want to do in OROCOS?

> It must be noted that in these modes, the user has the total control of
> the robot. This means that the user can choose the control algorithm
> but has also to consider the standard safety checks since they are
> not anymore performed by the Controller, like for example the Overspeed
> or the Overcurrent check.
This is indeed a major concern :-(

Thanks for the feedback!

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