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pillowfistsΤεχνίτη Νοημοσύνη και Ρομποτική

13 Νοε 2013 (πριν από 3 χρόνια και 9 μήνες)

70 εμφανίσεις


 

   
          
                   

 

  

 
            
                 
    


 

 

   

  



 

 
          
              
        
        
          
          
  


                 


  



 
              
    



   



  
           
    
     
                    
          
                   
 

 


                   
      
           
 




                  
            
         
                
       
    
                    
       


  
      


  
                      
  

      




               
   
 
 
 
 
 
  
            
 
     
             
         
RT:KeepStableUS
RT:KeepStableCam
RT:BrakesOff
RP::DoInspection
RP::KeepStableBase
RT:Pa10TTJS RT:Pa10TTSE3 RT:Pa10Teleop
RP:Pa10Working
ReleaseBrakes
ArmReleased
Inpect
StopInspect
Work
Vortex_Unstable/ Vortex_Stable
StartKeepStable/StopKeepStable
JointLimit
TargetFound
TargetLost
StartStableCam
StartStableUS
GoodEnd
SE3(Traj)
JS(Traj)
EndTraj
Teleop(Joystick)
JointLimit
OverHeating
DoInspectionBehaviour
Pa10WorkingBehaviour
KeepStableBaseBehaviour
RTA
RTA
RTA
RTA
RTA
RTA
RTA
Observer
Traj. Tracking
Joint Space
Traj.Tracking
SE3 Space
Teleoperation
Visual
Servoing
Acoustic
Servoing
Releasing
the Arm
    
                
  
      
 

                   
           

            
                 
       
      
                
                     


   
                 
 



 







 
               
               
          
                 

SEQ(do
Pa10BrakesOn
until BaseStabilized;
repeat 2 times
Pa10SafeMoveJS;
Pa10SafeMoveSe3;
end repeat
;
do
Pa10SafeMoveJs
until ParkingPositionReached
emit InpectionOK
)
SEQ(do
loop
BaseSearchTarget;
emitBaseStabilized
KeepStableBase;
end loop
until (InpectionOK)
)
PAR{
;
}
    
           
       

            
           
 

   

 






              
  



    





         
     
     

  

 

 
           
   
  

  
           




     





   
    
        
              
                
 

 





           
     
 





 
              
 





   

  
        




  

  
               
                     
              
          
           
            


   

 






            
              
           

                 
               


OC21OC21
OC21OC21OC21OC21OC21OC21OC21
OC21
OC21
OC21
OC21OC21OC21OC21
OC21
#CmdStopOK_Vortex
#CmdStopOK_Vortex#CmdStopOK_Vortex#CmdStopOK_Vortex#CmdStopOK_Vortex#CmdStopOK_Vortex#CmdStopOK_Vortex#CmdStopOK_Vortex#CmdStopOK_Vortex
#CmdStopOK_Vortex
#CmdStopOK_Vortex
#CmdStopOK_Vortex
#CmdStopOK_Vortex#CmdStopOK_Vortex#CmdStopOK_Vortex#CmdStopOK_Vortex
#CmdStopOK_Vortex
?CmdStopOK_Vortex . ?CmdStopOK_Vortex . ?CmdStopOK_Vortex . ?CmdStopOK_Vortex .
?CmdStopOK_Vortex . ?CmdStopOK_Vortex . ?CmdStopOK_Vortex . ?CmdStopOK_Vortex . ?CmdStopOK_Vortex .
?CmdStopOK_Vortex .
?CmdStopOK_Vortex .
?CmdStopOK_Vortex .
?CmdStopOK_Vortex . ?CmdStopOK_Vortex . ?CmdStopOK_Vortex . ?CmdStopOK_Vortex .
?CmdStopOK_Vortex .
!ActivateRTKeepStableUsVortex . !ActivateRTKeepStableUsVortex . !ActivateRTKeepStableUsVortex .
!ActivateRTKeepStableUsVortex . !ActivateRTKeepStableUsVortex . !ActivateRTKeepStableUsVortex . !ActivateRTKeepStableUsVortex . !ActivateRTKeepStableUsVortex . !ActivateRTKeepStableUsVortex .
!ActivateRTKeepStableUsVortex .
!ActivateRTKeepStableUsVortex .
!ActivateRTKeepStableUsVortex .
!ActivateRTKeepStableUsVortex . !ActivateRTKeepStableUsVortex . !ActivateRTKeepStableUsVortex . !ActivateRTKeepStableUsVortex .
!ActivateRTKeepStableUsVortex .
!L-FinTransite_Vortex!L-FinTransite_Vortex
!L-FinTransite_Vortex!L-FinTransite_Vortex!L-FinTransite_Vortex!L-FinTransite_Vortex!L-FinTransite_Vortex!L-FinTransite_Vortex!L-FinTransite_Vortex
!L-FinTransite_Vortex
!L-FinTransite_Vortex
!L-FinTransite_Vortex
!L-FinTransite_Vortex!L-FinTransite_Vortex!L-FinTransite_Vortex!L-FinTransite_Vortex
!L-FinTransite_Vortex
OC17OC17
OC17OC17OC17OC17OC17OC17OC17
OC17
OC17
OC17
OC17OC17OC17OC17
OC17
?InitOK_Vortex . ?InitOK_Vortex . ?InitOK_Vortex .
?InitOK_Vortex . ?InitOK_Vortex . ?InitOK_Vortex . ?InitOK_Vortex . ?InitOK_Vortex . ?InitOK_Vortex .
?InitOK_Vortex .
?InitOK_Vortex .
?InitOK_Vortex .
?InitOK_Vortex . ?InitOK_Vortex . ?InitOK_Vortex . ?InitOK_Vortex .
?InitOK_Vortex .
!L-StartTransite_Vortex!L-StartTransite_Vortex
!L-StartTransite_Vortex!L-StartTransite_Vortex!L-StartTransite_Vortex!L-StartTransite_Vortex!L-StartTransite_Vortex!L-StartTransite_Vortex!L-StartTransite_Vortex
!L-StartTransite_Vortex
!L-StartTransite_Vortex
!L-StartTransite_Vortex
!L-StartTransite_Vortex!L-StartTransite_Vortex!L-StartTransite_Vortex!L-StartTransite_Vortex
!L-StartTransite_Vortex
#InitOK_Vortex#InitOK_Vortex#InitOK_Vortex#InitOK_Vortex#InitOK_Vortex#InitOK_Vortex#InitOK_Vortex#InitOK_Vortex#InitOK_Vortex
#InitOK_Vortex
#InitOK_Vortex
#InitOK_Vortex
#InitOK_Vortex#InitOK_Vortex#InitOK_Vortex#InitOK_Vortex
#InitOK_Vortex
OC15OC15OC15OC15OC15OC15OC15OC15OC15
OC15
OC15
OC15
OC15OC15OC15OC15
OC15
_exit
_exit_exit_exit_exit_exit_exit_exit_exit
_exit
_exit
_exit
_exit_exit_exit_exit
_exit
OC0OC0OC0OC0OC0OC0OC0OC0OC0
OC0
OC0
OC0
OC0OC0OC0OC0
OC0
_exit
_exit_exit_exit_exit_exit_exit_exit_exit
_exit
_exit
_exit
_exit_exit_exit_exit
_exit
tautautautau
tautautautautau
tau
tau
tau
tautautautau
tau
OC20OC20OC20OC20OC20OC20OC20OC20OC20
OC20
OC20
OC20
OC20OC20OC20OC20
OC20
_exit_exit_exit_exit
_exit_exit_exit_exit_exit
_exit
_exit
_exit
_exit_exit_exit_exit
_exit
tautautautautautautautautau
tau
tau
tau
tautautautau
tau
OC14OC14OC14OC14OC14OC14OC14OC14OC14
OC14
OC14
OC14
OC14OC14OC14OC14
OC14
#InitOK_Vortex#InitOK_Vortex#InitOK_Vortex#InitOK_Vortex#InitOK_Vortex#InitOK_Vortex#InitOK_Vortex#InitOK_Vortex#InitOK_Vortex
#InitOK_Vortex
#InitOK_Vortex
#InitOK_Vortex
#InitOK_Vortex#InitOK_Vortex#InitOK_Vortex#InitOK_Vortex
#InitOK_Vortex
?InitOK_Vortex . ?InitOK_Vortex . ?InitOK_Vortex .
?InitOK_Vortex . ?InitOK_Vortex . ?InitOK_Vortex . ?InitOK_Vortex . ?InitOK_Vortex . ?InitOK_Vortex .
?InitOK_Vortex .
?InitOK_Vortex .
?InitOK_Vortex .
?InitOK_Vortex . ?InitOK_Vortex . ?InitOK_Vortex . ?InitOK_Vortex .
?InitOK_Vortex .
!ActivateRTKeepStableCamVortex .
!ActivateRTKeepStableCamVortex . !ActivateRTKeepStableCamVortex . !ActivateRTKeepStableCamVortex . !ActivateRTKeepStableCamVortex . !ActivateRTKeepStableCamVortex . !ActivateRTKeepStableCamVortex . !ActivateRTKeepStableCamVortex . !ActivateRTKeepStableCamVortex .
!ActivateRTKeepStableCamVortex .
!ActivateRTKeepStableCamVortex .
!ActivateRTKeepStableCamVortex .
!ActivateRTKeepStableCamVortex . !ActivateRTKeepStableCamVortex . !ActivateRTKeepStableCamVortex . !ActivateRTKeepStableCamVortex .
!ActivateRTKeepStableCamVortex .
!L-FinTransite_Vortex . !L-FinTransite_Vortex . !L-FinTransite_Vortex . !L-FinTransite_Vortex . !L-FinTransite_Vortex . !L-FinTransite_Vortex . !L-FinTransite_Vortex . !L-FinTransite_Vortex . !L-FinTransite_Vortex .
!L-FinTransite_Vortex .
!L-FinTransite_Vortex .
!L-FinTransite_Vortex .
!L-FinTransite_Vortex . !L-FinTransite_Vortex . !L-FinTransite_Vortex . !L-FinTransite_Vortex .
!L-FinTransite_Vortex .
!L-StartTransite_Vortex!L-StartTransite_Vortex!L-StartTransite_Vortex!L-StartTransite_Vortex!L-StartTransite_Vortex!L-StartTransite_Vortex!L-StartTransite_Vortex!L-StartTransite_Vortex!L-StartTransite_Vortex
!L-StartTransite_Vortex
!L-StartTransite_Vortex
!L-StartTransite_Vortex
!L-StartTransite_Vortex!L-StartTransite_Vortex!L-StartTransite_Vortex!L-StartTransite_Vortex
!L-StartTransite_Vortex
OC1OC1OC1
OC1OC1OC1OC1OC1OC1
OC1
OC1
OC1
OC1OC1OC1OC1
OC1
tau
tautautautautautautautau
tau
tau
tau
tautautautau
tau
!START_RTPa10TTSe3!START_RTPa10TTSe3!START_RTPa10TTSe3!START_RTPa10TTSe3
!START_RTPa10TTSe3!START_RTPa10TTSe3!START_RTPa10TTSe3!START_RTPa10TTSe3!START_RTPa10TTSe3
!START_RTPa10TTSe3
!START_RTPa10TTSe3
!START_RTPa10TTSe3
!START_RTPa10TTSe3!START_RTPa10TTSe3!START_RTPa10TTSe3!START_RTPa10TTSe3
!START_RTPa10TTSe3
!START_RTKeepStableUsVortex
!START_RTKeepStableUsVortex!START_RTKeepStableUsVortex!START_RTKeepStableUsVortex!START_RTKeepStableUsVortex!START_RTKeepStableUsVortex!START_RTKeepStableUsVortex!START_RTKeepStableUsVortex!START_RTKeepStableUsVortex
!START_RTKeepStableUsVortex
!START_RTKeepStableUsVortex
!START_RTKeepStableUsVortex
!START_RTKeepStableUsVortex!START_RTKeepStableUsVortex!START_RTKeepStableUsVortex!START_RTKeepStableUsVortex
!START_RTKeepStableUsVortex
?BF_RTPa10TTSe3?BF_RTPa10TTSe3?BF_RTPa10TTSe3?BF_RTPa10TTSe3?BF_RTPa10TTSe3?BF_RTPa10TTSe3?BF_RTPa10TTSe3?BF_RTPa10TTSe3?BF_RTPa10TTSe3
?BF_RTPa10TTSe3
?BF_RTPa10TTSe3
?BF_RTPa10TTSe3
?BF_RTPa10TTSe3?BF_RTPa10TTSe3?BF_RTPa10TTSe3?BF_RTPa10TTSe3
?BF_RTPa10TTSe3
?BF_RTPa10TTSe3 . _exit?BF_RTPa10TTSe3 . _exit?BF_RTPa10TTSe3 . _exit
?BF_RTPa10TTSe3 . _exit?BF_RTPa10TTSe3 . _exit?BF_RTPa10TTSe3 . _exit?BF_RTPa10TTSe3 . _exit?BF_RTPa10TTSe3 . _exit?BF_RTPa10TTSe3 . _exit
?BF_RTPa10TTSe3 . _exit
?BF_RTPa10TTSe3 . _exit
?BF_RTPa10TTSe3 . _exit
?BF_RTPa10TTSe3 . _exit?BF_RTPa10TTSe3 . _exit?BF_RTPa10TTSe3 . _exit?BF_RTPa10TTSe3 . _exit
?BF_RTPa10TTSe3 . _exit
!Abort_rt_Pa10TTSe3 . !Abort_rt_Pa10TTSe3 . !Abort_rt_Pa10TTSe3 . !Abort_rt_Pa10TTSe3 . !Abort_rt_Pa10TTSe3 . !Abort_rt_Pa10TTSe3 . !Abort_rt_Pa10TTSe3 . !Abort_rt_Pa10TTSe3 . !Abort_rt_Pa10TTSe3 .
!Abort_rt_Pa10TTSe3 .
!Abort_rt_Pa10TTSe3 .
!Abort_rt_Pa10TTSe3 .
!Abort_rt_Pa10TTSe3 . !Abort_rt_Pa10TTSe3 . !Abort_rt_Pa10TTSe3 . !Abort_rt_Pa10TTSe3 .
!Abort_rt_Pa10TTSe3 .
!START_RTKeepStableUsVortex!START_RTKeepStableUsVortex!START_RTKeepStableUsVortex
!START_RTKeepStableUsVortex!START_RTKeepStableUsVortex!START_RTKeepStableUsVortex!START_RTKeepStableUsVortex!START_RTKeepStableUsVortex!START_RTKeepStableUsVortex
!START_RTKeepStableUsVortex
!START_RTKeepStableUsVortex
!START_RTKeepStableUsVortex
!START_RTKeepStableUsVortex!START_RTKeepStableUsVortex!START_RTKeepStableUsVortex!START_RTKeepStableUsVortex
!START_RTKeepStableUsVortex
?BF_RTKeepStableUsVortex?BF_RTKeepStableUsVortex?BF_RTKeepStableUsVortex?BF_RTKeepStableUsVortex?BF_RTKeepStableUsVortex?BF_RTKeepStableUsVortex?BF_RTKeepStableUsVortex?BF_RTKeepStableUsVortex?BF_RTKeepStableUsVortex
?BF_RTKeepStableUsVortex
?BF_RTKeepStableUsVortex
?BF_RTKeepStableUsVortex
?BF_RTKeepStableUsVortex?BF_RTKeepStableUsVortex?BF_RTKeepStableUsVortex?BF_RTKeepStableUsVortex
?BF_RTKeepStableUsVortex
?BF_RTKeepStableUsVortex?BF_RTKeepStableUsVortex?BF_RTKeepStableUsVortex
?BF_RTKeepStableUsVortex?BF_RTKeepStableUsVortex?BF_RTKeepStableUsVortex?BF_RTKeepStableUsVortex?BF_RTKeepStableUsVortex?BF_RTKeepStableUsVortex
?BF_RTKeepStableUsVortex
?BF_RTKeepStableUsVortex
?BF_RTKeepStableUsVortex
?BF_RTKeepStableUsVortex?BF_RTKeepStableUsVortex?BF_RTKeepStableUsVortex?BF_RTKeepStableUsVortex
?BF_RTKeepStableUsVortex
!START_RTPa10TTSe3!START_RTPa10TTSe3!START_RTPa10TTSe3!START_RTPa10TTSe3
!START_RTPa10TTSe3!START_RTPa10TTSe3!START_RTPa10TTSe3!START_RTPa10TTSe3!START_RTPa10TTSe3
!START_RTPa10TTSe3
!START_RTPa10TTSe3
!START_RTPa10TTSe3
!START_RTPa10TTSe3!START_RTPa10TTSe3!START_RTPa10TTSe3!START_RTPa10TTSe3
!START_RTPa10TTSe3
OC1OC1
OC1OC1OC1OC1OC1OC1OC1
OC1
OC1
OC1
OC1OC1OC1OC1
OC1
OC0OC0
OC0OC0OC0OC0OC0OC0OC0
OC0
OC0
OC0
OC0OC0OC0OC0
OC0
OC3
OC3OC3OC3OC3OC3OC3OC3OC3
OC3
OC3
OC3
OC3OC3OC3OC3
OC3
OC5OC5OC5OC5
OC5OC5OC5OC5OC5
OC5
OC5
OC5
OC5OC5OC5OC5
OC5
OC4OC4OC4OC4OC4OC4OC4OC4OC4
OC4
OC4
OC4
OC4OC4OC4OC4
OC4
OC7
OC7OC7OC7OC7OC7OC7OC7OC7
OC7
OC7
OC7
OC7OC7OC7OC7
OC7
OC8OC8OC8OC8
OC8OC8OC8OC8OC8
OC8
OC8
OC8
OC8OC8OC8OC8
OC8
    



 


               
Autograph
Auto
SIMUL EXECVERIFINTERFACE
Code Gen.
VxWorks
Run-time
Simparc
+Code Gen.
VGUI
ORCCAD KERNEL: Class Hierarchy
  
       
      
 
 
  
 

              
   
      
   
 
 

              
             
                
             
    
   
       


  

    
               


  
 
           
          

            
  

  
          

          


pr_u
but_ev
atr_butbut_q
pr_dq
pr4_q
pr1_q
kin_q
pr_q
pr5_q
in_q
out_dRd
co_u
out_Rd
tf_Rd
BUT_PA10 ATR
DIF
CO_RED
PA10
TG_PA10
       



      
          

           
    

  

  


           
   





    
   















   
    




 
                
  
     
      
                
          


           
       


             
   