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Actin Simulation Overview
What is Actin Simulation?
Actin® is a general robot control and tasking framework built to meet the rigorous requirements of industrial, commercial, collaborative, and consumer robotic systems. In addition to being the only robotics SDK that provides real-time adaptive motion control for any robot or complex articulated mechanism, Actin provides users with a framework that can be used throughout the development process to simulate, build, control, and deploy a robotic system with unparalleled control capabilities.
Features & Capabilities
With the Actin SDK, roboticists are free to focus on what the robot does and where the end effectors and tools should be, not on how they get there. To this end, Actin supports advanced features not found in other control solutions, such as real-time collision avoidance, interactive control, and collaborative robot features for any number of axes.
Easy Integration with Robots, Sensors and Actuators
Actin not only offers support for common robot manufacturers and new or custom systems but enables cross-vendor coordination. Actin users are not constrained by an operating system. Unlike open source or research solutions, Actin is built to support mission-critical applications and run on embedded systems.
General Kinematics and Dynamics Model
- Inverse and forward kinematics and dynamics
- Kinematically redundant mechanisms
- Open and closed kinematic chains
- Fixed and mobile base manipulators
- Kinematic model, waypoint, and tool-path generation from CAD
Motion Control Framework
- Dynamic Motion Control. Actin motion control responds and adapts in real-time based on the perceived environment using an efficient constraint-optimization engine. The robot end-effector is driven to reach a target constraint based on the selected motion optimizations.
- Motion Constraints. Actin supports general constraints on any link in the robotic mechanism and includes 3D Point, 3D Orientation, 3D Pose, 2D Point, Planar, Free-Spin in Z, Linear Constraint and the ability to construct your own constraint.
- Motion Optimizations. Any time a robot has more degrees of freedom than is required by the task, Actin can optimize the motion. These optimizations can include collision avoidance, joint limit avoidance and others.
What are the specifications of Actin Simulation?