MhiPA10Fake
[C++, Linux]

Fake driver for MHI's PA-10 robot. More...

Fake driver for MHI's PA-10 robot.

Note: This driver has been tested for the PA-10-6CE robotic manipulator.

This is a fake driver which uses a model of the PA-10 to compute realisitic joint angles and velocities in response to torque commands. Currently the model will not accept velocity commands.

Dependancies

• libIceUtil (for timing)
• libroboop
• libnewmat

Make sure libroboop and libnewmat are installed. libroboop depends on libnewmat so the easiest way to install these libraries is as follows. First install newmat:

# svn export https://drics.googlecode.com/svn/third-party-libraries/newmat newmat
# cd newmat
# cmake .
# make && make install

Then to install roboop:

# svn export https://drics.googlecode.com/svn/third-party-libraries/roboop roboop
# cd roboop
# cmake .
# make && make install