Reflexxes Motion Libraries Manual and Documentation (Type IV)

Start Page

Introduction

The Reflexxes Motion Libraries are designed to achieve new opportunities in sensor-based motion control opening the door to new applications, safe human-robot interaction, and advanced robot motion capabilities. The three key features of these libraries are:

  1. Jerk-limited robot motions can be calculated from arbitrary initial states of motion (i.e., during any motion).
  2. New motions are calculated within one low-level control cycle (typically within one millisecond or less).
  3. The interface is very simple and clear, such that it can easily be integrated in existing systems.

Based on the Reflexxes framework, the following new motion control features can be realized with the Reflexxes Motion Libraries:

All these features let robots and mechanical systems instantaneously react to unforeseen events and enable new opportunities for sensor-based robot motion control — and thus: open the door to a wide range of new robot applications.

Contents

  1. Download Instructions

  2. Getting Started — Five Simple Examples

  3. Description of Input Values

  4. Description of Output Values

  5. References to All Classes of the Reflexxes API

  6. Safety: Three Layers of Error Handling

  7. Real-Time Behavior

  8. Time- and Phase-Synchronized Trajectories

  9. Overview About the Source Code

  10. Contact and Support

Version Information

This is the documentation of the Reflexxes Type IV Motion Library Version 1.0 (May 2011).

Legal Notice

The public version of the Reflexxes Type IV Motion Library is provided under a Creative Commons Attribution-NonCommercial 3.0 Unported License. Usage is allowed for non-commercial purposes. For commercial purposes, please contact Reflexxes GmbH.

User documentation of the Reflexxes Motion Libraries by Reflexxes GmbH (Company Information, Impressum). This document was generated with Doxygen on Mon May 9 2011 08:37:24. Copyright 2010–2011.