Re: Robotics course notes with concrete kinematic models...

On Fri, 4 Jul 2003, Leopold Palomo Avellaneda wrote:

> A Divendres 04 Juliol 2003 11:40, Herman Bruyninckx va escriure:
> > On Thu, 3 Jul 2003, Leopold Palomo Avellaneda wrote:
> [...]
> > > Please could you said me which file are you talking? I have downloaded
> > > the orocos-lrl-2.0.1-cvs.tar.gz  file and there's no feath6r directory?
> >
> > It's in the "motioncontrol" tarball. 
[...]
> There's some kind roadmap of this library? 

You and are are currently developing this roadmap :-) No, seriously,
there is a roadmap, which is basically what I write in the kin&dyn
document, at least as for as the definition of the functionality goes.
For the timing, I had something like this in mind:
Step 1: ("semantic decoupling":-)
 - define what functionality belongs really together
 - math: frames and such.
 - internal and external kinematics of mechanical structures
Step 2:
 - implementation of internal kinematics routines
 - for the most popular families: Puma-like, mobile platforms

Step 3:
 - external kinematics routines, i.e., motion planners

Step 4:
 - support for all possible kinematics structures
 - dynamics

> I have found that I'm asking a very 
> concretes question about that library, that method ... Another people are 
> talking about some kind of hight level of organitzation or planning of the 
> orocos project. I'm a bit lost, (probably because I'm newbie in the Orocos) 
> but I have realised that there's a lot of difference between one questions 
> and anothers. I wouldn't like to bore to the list about silly questions about 
> code, libraries etc. 
Please do! Your questions are not at all silly, but very much to the
point!

Anyway, the project is about both aspects: "high level" and "low
level". Up to now we've seen mostly "high level", so it's really nice
to get some "low level" questions! Anyway, just make sure that you
choose an appropriate Subject line, and don't be afraid to start
another thread when the content of the discussion has shifted.

Herman

-- 
  K.U.Leuven, Mechanical Engineering, Robotics Research Group
<http://people.mech.kuleuven.ac.be/~bruyninc> Tel: +32 16 322480