Table of Contents

• Installation
• Block Index
• Compositions
  • mix_ptrig_nrt
  • frag_pid_sat
  • frag_jnt_vel
  • app_jnt_vel
  • app_jnt_moveto
• References

This repo contains a set of generic, hardware independent microblx block models and blocks as well as composable usc models. The Block models section describes relevant planned and available blocks. Section Compositions describes generic and reusable composition models for building typical motion control systems using the former blocks.

Dependencies

• microblx v0.9 or newer
• for the trajgen_rml block the reflexxes library is required. It was tested with this version.

Building

$ mkdir build
$ cd build
$ cmake ..
 ...
$ make
$ sudo make install

This sections describes a number of reusable usc compositions. The follwing naming scheme is used:

• mix_ compositions are intended to be mixed-in on the command line as additional arguments to -c. They are usually not launchable standalone.
• frag_ compositions are reusable application fragments that can be used as building blocks in applications. They may or may not be launchable standalone.
• app_ compositions compose frag_ compositions to build applications. They are launchable standalone.

mix_ptrig_nrt is a generic mixin model for late addition of a pthread trigger to avoid cluttering the application with platform specifics. It is used by several of the following examples.

List of compositions:

• cascaded controllers: two variants of position control compositions
• jnt_moveto: free-space trajectory following
• jnt_vel: a multi-level composition of a jnt_space velocity controller.