golems / reflex

Real-Time robot control

OVERVIEW

Reflex is a package for real-time robot control. It includes the following:

• Workspace (Cartesian) Control for Robot Arms
  • Generates kinematics code in C from URDF
• Linear Quadratic Gaussian Control and Estimation
  • Compute optimal Kalman/LQR gains
  • Discrete Kalman Filter
  • Extended Kalman Filter
  • Continuous Kalman-Bucy Filter
  • LQR Controller

INSTALLATION

./configure && make && make install

See the INSTALL file for details.

WORKSPACE CONTROL

• To generate code from URDF, see ./scripts/rfx-urdfc. Basic usage is rfx-urdfc myrobot.urdf. For details, do rfx-urdfc --help.

DEMOS

rfx-trajgen

The rfx-trajgen program will covert a set of waypoints to a dense trajecory. See man rfx-trajgen for details.

rfx-camcal

The rfx-camcal program will find a camera transform based on corresponding camera and forward-kinematic pose estimates.

Example

See the file cartpend.c for an example of how to do LQG filtering and control.