Real time, control and embedded capabilites

In order to experiment with the effects of scheduling over the control applications some tools has been developed. In the control side the following things has been done:

• Generate reference trajectories for each move.
• Several controllers for the robot's position and force.
• Allowing to change the reference type of the trajectory (stair,ramp or cubic spline), controller's type and period on the fly.
• Allowing to mesure the robot's position, sensor force, motors speed, position errors,...