RobWork is a framework for simulation and control of robotics with emphasis on industrial robotics and their applications.

Major goals of this framework:

• Provide a single framework for offline and online robot programming including modelling, simulation and (realtime)control of robotics

Target audience:

• esearchers who needs a common framework for experimental robotics
• tudents who wants to experiment with concepts of robotics
• mplementers of robot applications

Dependencies:

This framework uses the following 3rd party libraries:

• stl (C++ Standart Template Library)
• boost (Peer-reviewed C++ libraries)
• boost::ublas, for basic linear algebra
• LAPACK, for numerical computations
• OpenGL, for visualization
• Qt4, for user interface
• opcode, for collision detection

RobWork use the cmake build system.

Since this library uses boost, and other modern frameworks, a modern (2000+) C++ compiler like GCC 3 or Visual C++ 7 is required. Not all files are expected to compile without problems on ancient C++ compilers.

RobWork Features

List of features in the RobWork c++ library.

• Math package based on Boost/Ublas with varius mathematical constructs for calculating and describing 3d kinematic scenes and other robot specific stuff.
• Loading and visualising of devices with a variety of kinematic structures (SerialDevice, TreeDevice, ParallelDevice, MobileDevice).
• General iterative forward and inverse kinematics for all types of devices.