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Master Thesis |
Robot Arm Object - Software for Motion Control An environment is built which provides high level motion control for robot arms. A software package is designed and implemented so that students with no background in robotics can explore the collaboration of manipulators in real-time. The software can easily be adapted to different kinds of manipulators with a maximum of 6 revolute joints. An interface with a software simulator of a manipulator is provided. The software is implemented on UNIX workstations using Ada95 and C as programming languages. |