龚建伟技术-机器人控制-机器人常用控制及仿真软件

1、常用控制软件:* ActivMedia Robotics In terface forApplicati ons- ARIA is an 00 C+ library forcon trolli ng ActivMedia mobile robots. Provides dyn amiccontrol of velocity, heading, and other navigation settings as well as I/O bus, gripper, pan-tilt, and bumpers. ARIA is Free Software lice nsed un der the GN

2、U GPL. Autopilot - A complete Unmanned Aerial Vehicle (UAV)control system with 3 axis IMU/INS+GPS. Autopilot is Free Software and, along with the associated hardware desig ns, is licensed under the GNU GPL.* 4 Axis Stepper Control for CNC - Windows andDOS-based software is provided to con trol homeb

3、rew, stepper-based, 4-axis CNC hardware that cuts parts for sailpla ne models.* BotController _ - Control software for Khepera, Koala or Hemisson robots. Connects to robot via PC serial port.Provides a graphical representationand a powerful and easyto use BASIC editor. Commercial, proprietary softwa

4、re forMS Win dows.* Carn egie Mell on Robot Navigati on Toolkit -CARMEN is modular, Ope n Source C software desig ned toprovide basic n avigati on primatives in clud ing: base andsen sor con trol, obstacle avoida nee, localizati on, pathplanning, people-tracking, and mapping. Licensed under the GNU

5、GPL.* CMU Mobile Auto no mous Robot Software - cmuMultiRobot Lab MARS packages are complete, effective and scalable software for aut onom ous robot teams. Support for in tegrated percepti on, reas onin g, lear ning, com muni cati on and cooperative strategies that solve complex multiage nt tasks. Fr

6、ee Software released un der the GNU GPL.* Daves Multi-tasking Sumo Robot Program -Multi-taskingcontrol program for a Sumorobot equipped withmultiple sen sors. C source code for the 68HC11 Han diboard.* Daves Robotic Operating System - dross an OpenSource project at the Australian National University

7、. DROS is a modular framework for controlling a wide range of mobile robots. Coded in C+ and Perl. Licensed under the GNU GPL.* DRobot- Reversed-engineered, Open Source controlsoftware for robots made by the now defunct NomadicTech no logies, In c. Writte n in C and released un der the GNU GPL. EGgC

8、Educational Robotics Platform -A softwareplatform and associated hardware with a focus on educational use. Software can handle 100+ I/C ports, up to 12-16 servos and manyDCmotors. EGgCs written in Python, runs on Linux and is Free Software lice nsed un der the GNU GPL.* EusLisp Robot Programming Lan

9、guage -Cbject-orie nted Lisp-based program ming system desig ned specifically for the developme nt of robotics software. FIPA-OS- A component-based Java toolkit enabling rapid development of FIPA compliant physical agents. Source code is available un der an Open Source-like lice nse. GVGSLAM Simulta

10、neous Localization and Mapping (SLAM) software that gen erates a map called a gen eralized Voronoi graph (GVG). Written in C. jabot .-Event-drivencontrollerfor small remote robots.This approach uses a MIDI-style object mecha nism forcon trolli ng over the intern et. JINI and Java based.* JRobot -Jav

11、a In terface for Mitsubishi RVM1 Robot.Con trol and camera in terfaces are provided. Ope n Source software released un der the BSD lice nse.* KCo ntrol - A Linux-based control and monitor program for the Khepera robot. C+source is included. License prohibits most non-educati onal use.* Mobile and Au

12、tonomous Robotics IntegrationEnvironment - MARIE is a development and integrationen viro nment built over a com muni cati on layer. Its main goal is to integrate other robotics software such as Player/Stage, CARMENand RobotFlow. MARIEis Free Software licensed under the GNU GPL.* Modular Controller A

13、rchitecture 2- a modular,n etwork tran spare nt,realtime capable, C/C+ framework forcontrolling robots. The main plattform is Linux/RTLinux but Win 32 and Solaris also supported. MCA-2 is Free Software licensed under the GNU GPL.* MotoRobots Software Libraries - a collection ofOpen Source embeddedso

14、ftware libraries for mobile robotics applicati ons, targeti ng Motorola 68K/ColdFire and PowerPC micros. The code is writte n in C, C+, and assembler and licensed under the GNU LGPL.* Nomadic.Sourceforge.Net - Official productionreleases and source code from the now defunct NomadicTech no logies, In

15、c. Source code to all drivers, libraries and applicati ons is now un der the GNU GPL lice nse.* NROSoft Robotics Software _- BASIC Stamp code usedby the GearGri nders (Team 112) in the FIRST roboticcompetition. Source code for the 2001 and 2002 events is available.* Object Oriented Mobile Robot Mode

16、l - oomrm isa C+ library developed for the 68332 MRM microprocessorboard. It in cludes a host (Win dows/L inux) mobile robotsimulator that can be run independently of the 68332. OOMRM is Free Software lice nsed un der the GNU LGPL.* PC/104 Robotics Drivers - For PC/104+ users.Includes Linux drivers

17、for the ACCES04-DIO-48S digital I/O board, up to 8 Polaroid ultras onic sen sors, and an in terface to a PIC controllerfor motor control with encoder feedback.Free Software writte n in C and lice nsed un der the GNU GPL. Peeves Con trol Program -PID-based odometry anddead-reck oning for a mobile rob

18、ot with differe ntialsteering, implemented for a Lego RCX module. Detailedarticle describes theory of operation. Open Source softwarewritte n in the NQC lan guage and released un der an MIT lice nse.* PerceptionAction Components Library - PACLibprovides a collecti on of modules for process ing image

19、 datafrom video cameras and for robot con trol and simulatio n.PACLib is Free Software lice nsed un der the GNU GPL. Pyro AI and Robotics System - a library,en viro nment, graphical user in terface, and low-leveldrivers to explore AI and robotics using the Python language.Pyro is Free Software licen

20、sed under the GNU GPL. RAP System- The Reactive Action Packages (RAP) systemprovides a pla n and task represe ntati on structured to makea tasks expected behavior evident. Written in CommoiLisp. Copyright allows educati onal use only.-RHexLib -A collectionof C+libraries that form the Opencode was de

21、veloped for the QNXRTOSbut also runs on Linux.Released un der the BSD lice nse. Robosoft - A multiprocess robotic nervous system thatwill allow a four-legged robot to con trol itselfaut onom ously in nine degrees of freedom. Robosoft is OpenSource C+ code un der the BSD lice nse.* Robot Con trol C L

22、ibrary - RCCL is a library of Croutines for doing real-time control and graphic simulationof a nu mber of in dustrial robots, primarily PUMAs. Lice nseallows non-commercial use only.* SAPHIRAA robot control system developed at SRIs AICen ter as an in tegrated architecture for robot percepti onand ac

23、ti on. C/C+ source in clude.Non -commercial use only. Scene - An Open Source C+ library for sequentiallocalisati on and map-buildi ng. Modular desig n makes itsuitable for robot navigation in 1D, 2D or 3D with arbitrarysensing capabilities. Licensed under GNU GPL.* ServoMaster - A platform independe

24、nt servo controllerdriver compatible with FerretTro nics and Phidget boards.GPL. SPLAT- The Simple Provisional Language for Actions andTasks provides both a Ian guage for specify ing con trol lawsand a run time en viro nment for executi ng and mon itori ng them.Based on RScheme. SPLATis Free Softwar

25、e licensed under theGNU GPL.* step - C source code for a Linux stepper motor controllerthat can con trol up to 3 un ipolar steppers through a PCparallel port. Free Software lice nsed un der the GNU GPL.* Visual Servo Automation - vsa provides msWin dows-based moti on con trol compatible with servoco

26、n trollerscom monly used in robotics applicati ons such theMini SSC, SV203, and SMI boards. VSA is proprietary,commercial software.* xbot - A modular bot software environment based on the .Netframework for aut onom ous n euro nal n etwork, script or mapdrive n mobile omni wheel robots using the SV20

27、3 con troller.Free Software lice nsed un der the GNU GPL.常用仿真软件：RoboWorks - RoboWorks 是一个非常容易上手的3D建模,仿真及动画 模拟的工具软件，它可以应用于很多不同的系统.通过使用Roboworks, 用户可以简单的建立高质量的3D模型，并可以通过特别的接口与其他软 件相兼容.RoboWorks 支持直接从键盘输入或从文件输入数据，已用来动画模拟,也支持开源的Robotalk的程序. RoboWorks下载BugWorks 2D Robot Simulator - 一个用 JAVA 写的 2D 的机器人仿 真

28、程序Camelot - Camelots Ropsim 是基于Windows系统的机器人离线编 程与动态仿真软件,它在工业上应用很广泛.通过Camelots Ropsim 你可 以在你的个人电脑上编程控制机器人，体验控制机器人运动的快感.Encarna? ?o Robot Simulator - 一个用来做机器手的动态仿真软件.Mobile Robot Simulators -特别适用于微型移动机器人足球比赛用机 器人的动态仿真.可以用来对机器人的控制结构进行一个测试.MOBOTSIM - Mobile Robot Simulator- Windows 下的 2D 动态移支机器人仿真软件.它提

29、供了一个图形界面，你可以很方便的建立和编辑 你的机器人,支持basic语言.RRG Kinematix - 一个C/C+ 上使用的,适用于各种不同运动副的库 文件.它适用于任何运动副，也适用于任意自由度的机器人仿真.ThreeDimSim - 一个3D的机构仿真及渲染软件多机器人常用仿真软件（待整理）play/stage 等TeamBotsTeamBots is a Java-based collecti on of applicati on programs and Java packages for multi-age nt mobile robotics research. It sup

30、plies a simulatio n and real robot executi on en viro nment. TeamBots is developed at CMU and Georgia Tech.TeamBots supports prototyp ing, simulati on and executi on of multi-robot con trol systems. Robot con trol systems developed in TeamBots can run in simulation using the TBSim simulation applica

31、ti on, and on mobile robots using the TBHard robot executi on en viro nmen t. fi nd more.Downl oad TeamBots.zip SoccerBotsSoccerBots is a Multi-robot soccer simulati on .It is used by a nu mber of educators and multi-age nt systems researchers. SoccerBots is in eluded in the TeamBots distributi on .It is writte n in Java, and developed at CMU and Georgia Tech. fi nd more.SoccASCII SoccerASCII Soccer is a tool for in ves