Software, Hardware, and Algorithms
Tarsim: Realtime Frontend Integratable and Configurable Robot Kinematics Simulator
Collision-Detetion in Realtime
Tarsim is a realtime-safe simulator. Setting and getting robot kinematics parameters takes a few micro seconds and the kinematics engine can calculate the whole kinematics chain in a few micro seconds.
The client of Tarsim can be integrated in any C++ code running under a POSIX system such as Linux Ubunutu. The service of Tarsim can be run as a separate process or be integrated in a Qt application.
Tarsim simulates collisions, max joint velocity, and max joint acceleration in realtime
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