This library contains the different utility components of the r3 robot. Usually, there is no need to use this library directly.
| Name | Description |
|---|---|
| AxisControlBus | Data bus for one robot axis |
| ControlBus | Data bus for all axes of robot |
| PathPlanning1 | Generate reference angles for fastest kinematic movement |
| PathPlanning6 | Generate reference angles for fastest kinematic movement |
| PathToAxisControlBus | Map path planning to one axis control bus |
| GearType1 | Motor inertia and gearbox model for r3 joints 1,2,3 |
| GearType2 | Motor inertia and gearbox model for r3 joints 4,5,6 |
| Motor | Motor model including current controller of r3 motors |
| Controller | P-PI cascade controller for one axis |
| AxisType1 | Axis model of the r3 joints 1,2,3 |
| AxisType2 | Axis model of the r3 joints 4,5,6 |
| MechanicalStructure | Model of the mechanical part of the r3 robot (without animation) |