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Introduction

The Reflexxes Motion Libraries are designed to achieve new opportunities in sensor-based motion control opening the door to new applications, synchronized electrical drive control, 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.

All these features let robots and mechanical systems instantaneously react to unforeseen events and enable advanced opportunities for sensor-based robot motion control.

Contents

1. Download and Build Instructions
   
   
2. References to All Classes of the Reflexxes API
   
   
3. Getting Started — Simple Examples
   
   
4. Description of Input Values
   
   
5. Description of Output Values
   
   
6. Safety: Three Layers of Error Handling
   
   
7. Real-Time Behavior
   
   
8. Synchronization Behavior
   
   
9. Overview About the Source Code
   
   
10. Contact Information
    
    
    

Appendix

• The Reflexxes Motion Libraries — An Overview
  
  
• The Position-based Type IV On-Line Trajectory Generation Algorithm
  
  
• Behavior after the Final State of Motion is Reached
  
  
• About the Flag RMLFlags::PHASE_SYNCHRONIZATION_IF_POSSIBLE
  
  
• Version History of the Type IV Reflexxes Motion Library
  
  

Version Information

This is the documentation of the Type IV Reflexxes Motion Library Version 1.2.1 (February 2012).