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Energid |
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| Actin™ Robotics Toolkit |
| Advanced Software for Controlling and Simulating Complex Robotic Mechanisms |
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| Actin™ is a C++ software toolkit that simplifies robotic control applications by providing powerful software components and control methods for simulating and controlling complex mechanisms. Based on software developed for NASA, the Actin toolkit provides coordinated control for fixed or mobile robots with up to 100 independent moving parts and Windows-based libraries that robotics developers can use to quickly create complex, intelligent control systems. The developer specifies the robot kinematics and desired behavior, and Actin produces algorithms for setting joint positions and rates to achieve specified hand motion. With Actin, roboticists are free to focus on what the robot does and where the hands and tools should be, not on how they get there. For mechanisms with many moving parts, tasks can be accomplished in an unlimited number of ways. The human arm, for example, can position and orient the hand while retaining freedom of motion in the elbow. Actin takes advantage of this kinematic redundancy to produce intelligent robotic motion, including collision avoidance, joint limit avoidance, minimum motion, and strength optimization. Through a configurable object-oriented design, Actin applies to many robot types. It works with fixed-base manipulators, as would be typical for factory automation, and with mobile manipulators, as would be appropriate for home and entertainment. Actin works with almost any joint type or hand type and with a virtually unlimited number of degrees of freedom and branching connections. |
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| Actin Toolkit Advantages |
| Extensible Markup Language (XML) - Developers can easily connect code with components from the Actin™ toolkit to build XML-configurable C++ objects. In addition to reading and writing themselves in XML, all XML-configurable objects can write their own validating schemas. |
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| Mathematical and Geometrical Tools - Mathematical tools include three-dimensional vector math and matrix routines. Conversion utilities for three-dimensional quantities are included. Orientations can be set from quaternions, Euler angles, Rodrigues parameters, angle-axis, direction cosine matrices, and so forth. |
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| Robonaut - A 40+ degree of freedom (DOF) humanoid robot developed through a ASA/DARPA joint venture. Actin was developed to support this system. |
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| The Robotics Research RRC K-1207i armsimulation in Actin. |
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| Actin Robonaut Simulation-The simulation (including control system) runs in real-time on a mid-range desktop/laptop PC. |
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| Capabilities Overview |
| Extensible Markup Language (XML) - developers can easily connect code with components from the Actin™ toolkit to build XML-configurable C++ objects. In addition to reading and writing themselves in XML, control and simulation modules can write their own validating schemas. |
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| Mathematical and Geometrical Tools - including three-dimensional vector math and matrix routines. Conversion utilities for three-dimensional quantities are included. Orientations can be set from quaternions, Euler angles, Rodrigues parameters, angle-axis, direction cosine matrices, and so forth. |
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| Kinematic Control - Actin automatically calculates joint rates or positions to give desired hand velocities or positions based on the manipulator model description. Manipulators with any number of links, any number of bifurcations (branches), nonstandard joint types, and nonstandard end-effector types are supported. |
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| Dynamic Simulation - including full and accurate Newton-Euler rigid body dynamics on all articulated links and impact dynamics between obstacles. Dynamics are calculated for nontraditional joint types, as well. Both the Composite Rigid Body Inertia algorithm and the Articulated Body Inertia algorithm are implemented. |
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| Rendering - Actin provides cross-platform rendering and visualization. Any manipulator can be rendered with an easy-to-use interface and any number of
manipulators can be shown in the visualization. The specular properties of surfaces an be set, bit mapping can be used, and any number of lights can be configured. |
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| Machine Vision - Actin includes methods for capturing images with a USB camera, firewire camera, or frame grabber. It also includes algorithms for analyzing captured images and using the results as information to feed back to the controller, as well as camera calibration algorithms that allow for the automatic calculation of camera parameters, such as focal length and position/orientation. |
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| Network Communications - Actin includes C++ classes for network communications. Connections are implemented for TCP/IP, UDP/IP, and Skype communications. A networking stream class is implemented to allow the transmission of XML data from one network location to another for networked control and simulation. |
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| Data Analysis - Actin includes real-time graphing and diagnostics. Postprocessing data can also be exported to Excel, Matlab, and Mathematica. |
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| Platform support - Linux and Windows are supported. |
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| Supported Control Algorithms |
Collision Avoidance Joint Limit Avoidance
Singularity Avoidance Error Reduction
Strength Optimization Minimum Kinetic Energy Control
Minimum Potential Energy Control Failure Recovery
Simulation Based Control User Defined |
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| Mitsubishi PA-10 7-Axis Arm Actin is currently being used for redundant control of a PA-10. |
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| Collision avoidance zones are displayed within the Actin design environment |
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| Multiple manipulators can easily interact without collisions with Actin’s path solving capabilities. |
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| Collision Avoidance with Actin™ 2.0 |
| Advanced Software for Controlling and Simulating Complex Robotic Mechanisms |
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| Insure collision-free paths in real-time with Actin. Actin’s collision avoidance software not only prevents collisions, it can actually navigate around potential collisions - even as the environment is changing in real-time. Any manipulator, no matter how complex, can be controlled with collision free paths. |
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| Actin’s collision avoidance software features |
| Self-Collision Avoidance Method: Manipulators of any complexity can be modeled and controlled within the system. Control pathways will always avoid configurations where the manipulator collides with itself. Actin solves for the optimal end effector position while maintaining complete freedom of movement of the manipulator. |
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| Manipulator-Manipulator Collision Avoidance Methods |
| Multiple robotic units are solved simultaneously for collaborative interaction. Each manipulator’s path solution is optimized to ensure that manipulators do not collide with each other. |
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| Manipulator-Environment Collision Avoidance Methods |
| Objects within the environment are modeled within the system to ensure that the robot manipulator does not collide with them. Object position data are dynamically updated in real time to ensure that the system is reacting to the ever-changing real time environment. |
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| Simple Setup |
| Actin’s unique control interface enables roboticists to easily configure dynamic environments with multiple constraints. Through the simulation capability, the developer can test and modify usability of the design before deployment. |
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| Integration With Other Optimizations |
| Actin uses multiple optimization algorithms such as joint limit avoidance in conjunction with collision avoidance. Solutions provide the optimal path for each particular manipulator in the dynamically changing work environment. ActinTM is a C++ software toolkit that simplifies robotic control applications by providing powerful software components and control methods for simulating and controlling complex mechanisms. Based on software developed for NASA, the Actin toolkit provides coordinated control for fixed or mobile robots with up to 100 independent moving parts and Windows-based libraries that robotics developers can use to quickly create complex, intelligent control systems. The developer specifies the robot kinematics and desired behavior, and Actin produces algorithms for setting joint positions and rates to achieve specified hand motion. |
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| Global Robotic control with Actin™ 2.0 |
| Advanced Software for Controlling and Simulating Complex Robotic Mechanisms |
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| Energid Technologies introduces a new way to control robots—through Skype! Actin 2.0 comes with a Skype enabled interface for robot control. The most powerful VoIP software just became the most powerful RCoIP (Robot Control over IP) tool. |
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| Actin 2.0 Skype interface features |
- Robust reliable robot control from anywhere on the planet
- Works through NATs and firewalls
- Control mobile or fixed-base robots
- Control data is secured with 128-bit encryption
- Works with Windows or Linux
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| Actin™ is a C++ software toolkit that simplifies robotic control applications by providing powerful software components and control methods for simulating and controlling complex mechanisms. Based on software developed for NASA, the Actin toolkit provides coordinated control for fixed or mobile robots with up to 100 or more independent moving parts. It is provided through libraries and header files that robotics developers can use to quickly create complex, intelligent control systems. The developer specifies the robot kinematics and desired behavior, and Actin produces algorithms for setting joint positions and rates to best achieve hand and tool motion. |
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Energid Syntasis™
Rapid Robot Design Validation |
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 Energid Technologies’ Syntasis provides a software infrastructure for rapid robot design validation. It includes fast high-fidelity dynamic simulation, with impact dynamics and articulation dynamics for both mobile and fixed mechanisms. Kinematic and dynamic simulation support randomized Monte Carlo simulation and parameter-optimization analysis.
Syntasis can automatically generate control systems for complex robotic mechanisms using Energid’s Actin Toolkit, a component of the framework. Syntasis includes XML-base configuration and integrates with many supporting tools, including Excel, MATLAB ®, Mathematica®, and SolidWorks. |
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| Features |
- Parametric, Monte Carlo, and optimization analysis
- Support for mobile and fixed-base systems
- Support for branching and looping mechanisms
- Kinematic and dynamic analysis
- Interactive validation
- Automatic control system generation
- Simulation of cameras and other sensors
- DLL plugin support
- High fidelity dynamic actuator models
- Network-based interaction
- Support for Windows and Linux
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Energid’s ActinTM can also be used as a tool for teaching everything from the fundamentals of inverse kinematics to advanced robot control.It can also be used |
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- To teach object Oriented C++, making students learn the fundamentals of object-oriented programming.
- To visualize and simulate any new robots designed by the students.
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| These specialties make Actin the perfect choice of both industrial automation and Educational robotic software. Custom configurations. |
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| For further details, visit our Actin page |
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Cyton I 7D-1G
Humanoid Manipulator |
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Humanoid robot arms offer exciting advantages for robotic tasks. With many degrees of freedom, they are able to reach around obstacles, reconfigure for strength, improve accuracy, and manipulate objects with dexterous, fluid motion. Humanoid manipulators have the property of kinematic redundancy that enables the placement of a hand or tool at a desired position and orientation within its workspace in an unlimited number of ways.
Combined with Energid’s 3D visualization, reasoning, and control software, the Cyton Alpha can perform advanced control by exploiting kinematic redundancy. With Energid’s networking software, it can be controlled remotely through a local area network or the Internet. |
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| Specifications |
Mechanical Structure: 7 DOF plus gripper, all axes completely independent. All axes can be controlled simultaneously. Pitching actions have integrated load balancing springs. Key joints have additional planetary ball bearing support.
Electronics: 32 Channel servo controller with 24 free channels for adding end effectors and other peripherals.
Actuators: High quality PMDC servo motors with integral gear reduction |
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| Rated Payload |
250 grams |
| Maximum Payload |
400 grams |
| Rated Speed |
0.2 m/s |
| Joint Speed |
60 rpm |
| Height |
60 cm |
| Reach |
48 cm |
| Repeatability |
0.23 cm |
| Hardware Interface |
USB |
| Control Software |
XML configurable |
| Actin-Cyton application software with 3D Visualization/Reasoning GUI |
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| Axes Range |
| Joint Name |
Joint Type |
Joint Limit |
| Shoulder Base |
revolute |
180° |
| Shoulder Pitch |
revolute |
170° |
| Shoulder Yaw |
revolute |
180° |
| Elbow Pitch |
revolute |
170° |
| Wrist Roll |
revolute |
180° |
| Wrist Yaw |
revolute |
130° |
| Wrist Pitch |
revolute |
135° |
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| Download Cyton I Brochure |
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| Download Movie |
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| Please visit our robo-shop ROBAI for in-house hardware products. |
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Bi-Handed Humanoid Manipulator
(Bi-Handed Cyton I 14D-2G)
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Bi-Handed Cyton I is a new series of robot arm with two branches. It comes with 14 DOF and a pair of two finger grippers designed after the humanoid manipulator-Cyton I 7D-1G. Because of the additional limb, the robot is capable of lifting heavier payloads.
Bi-handed Humanoid manipulators obviously have the property of redundancy and bifurcation which enables placement of a hand or tool at a desired position and orientation within its workspace in an unlimited number of ways. Additionally, a two-handed robot with more than 12 degrees of freedom can place its two hands at specified poses within its workspace in an unlimited number of ways. Combined with Energid’s Actin, the new generation Cyton can perform advanced control optimization techniques by exploiting property of redundancy and bifurcation. |
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| Specifications |
Mechanical Structure: 14 DOF plus 2 gripper, all axes completely independent. All axes can be controlled simultaneously. Pitching actions have integrated load balancing springs. Key joints have additional planetary ball bearing support.
Electronics: 32 Channel servo controller with 14 free channels for adding end effectors and other peripherals.
Actuators: High quality PMDC servo motors with integral gear reduction.
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| Bi-Handed Payload |
400 grams(Rated) - 700 grams(Maximum) |
| Rated Speed |
0.2 m/s |
| Joint Speed |
60 rpm |
| Height |
58.5 cm |
| Reach |
43.3 cm |
| Repeatability |
0.23 cm |
| Hardware Interface |
USB |
| Control Software |
XML configurable |
| Actin-Cyton application software with 3D Visualization/Reasoning GUI |
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| Axes Range(Single Arm) |
| Joint Name |
Joint Type |
Joint Limit |
| Shoulder Base |
revolute |
180° |
| Shoulder Pitch |
revolute |
170° |
| Shoulder Yaw |
revolute |
180° |
| Elbow Pitch |
revolute |
170° |
| Wrist Roll |
revolute |
180° |
| Wrist Yaw |
revolute |
130° |
| Wrist Pitch |
revolute |
135° |
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| Download Movie |
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Cyton V2 7DOF
Interactive Humanoid Manipulator |
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Cyton V2 is a next generation humanoid manipulator. It can perform exceptionally complex tasks due to larger range of motion at all joints.
Cyton V2 comes with a special interactive mode of operation. In this mode, a user can manually train the arm to perform a task by moving its end effector in space and the arm will reproduce the task or motion taught by the user during re-play. This feature facilitates user to set up a work cell easily. |
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| Specifications |
Mechanical Structure: 7 DOF plus gripper (optional), all axes are completely independent yet can be controlled simultaneously (using the included Actin control software). Pitching axes have integrated load balancing springs. All joints have ball bearing support. Spin joints have additional planetary bearings.
Electronics: USB actuator controller card with configurable channel allocations. Al actuators are connected through a single, daisy-chained cable.
Actuators: High performance, intelligent actuators give feedback on position, speed, load, voltage, and temperature. They also include an LED status indicator.
Communication: Digital packet based network communication up to 1Mbps.
Training Mode:The user can train the arm by physically moving the end effector in 3D Cartesian space through any direction, orientation and path. In this mode the trajectory is captured and stored.The stored trajectory can be repeatedly played back at a later time, enabling the user to setup workcells and plan desired motions with ease. |
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| Rated Payload |
1.0 kilograms |
| Maximum Payload |
1.2 kilograms |
| Rated Speed |
0.4 m/s |
| Joint Speed |
75 rpm |
| Height |
58.5 cm |
| Reach |
43.3 cm |
| Repeatability |
0.1 cm |
| Hardware Interface |
USB |
| Control Software |
XML configurable |
| Actin-Cyton application software with 3D Visualization/Reasoning GUI |
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| Axes Range |
| Joint Name |
Joint Type |
Joint Limit |
| Shoulder Base |
revolute |
300° |
| Shoulder Pitch |
revolute |
180° |
| Shoulder Yaw |
revolute |
300° |
| Elbow Pitch |
revolute |
240° |
| Wrist Roll |
revolute |
300° |
| Wrist Yaw |
revolute |
200° |
| Wrist Pitch |
revolute |
200° |
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| Download Cyton V2 Brochure |
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Custom robot configurations
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| One of the biggest challenges in developing an automation solution is creating a robot/mechanisms tailored for each task with a limited budget. High quality redundant manipulators interfaced with advanced configurable software like Actin can often meet a developer’s needs without requiring new hardware configuration and capacity. Using Actin, any type of automation equipment/mechanism can be quickly and easily configured to meet your requirements. We can also design and build custom robotic hardware based on the end user requirement. |
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