RTOS-i686 Real-Time Operating System for generic x86 CPUs: hard realtime Linux kernel, RTAI, RTnet, Comedi, Comedilib
- linux-image-i686-hal
- linux-headers-i686-hal
- rtai-base-i686
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RTOS-p4 Real-Time Operating System for Pentium 4 CPUs: hard realtime Linux kernel, RTAI, RTnet, Comedi, Comedilib
- linux-image-p4-hal
- linux-headers-p4-hal
- rtai-base-p4
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linux-source-i686-hal Source files of linux-image-i686-hal
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| linux-source-p4-hal Source files of linux-image-p4-hal |
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rtai-base-src Source files of rtai-base-i686/p4
- RTAI
- RTnet
- Comedi
- Comedilib
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| CoreLib GNU/Linux software library that provides XML and networking capabilities to Orchestra components |
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| HostSupervisor GNU/Linux application that allows mutual discovering and communication among distributed Orchestra components and execution of host-specific tasks |
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| Conf Graphical User Interface for configuring HostSupervisor (Orchestra components autorun services etc.) |
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Core The hard real-time framework that allows the execution of motion control applications
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| RTM RunTimeManager: the hard realtime framework for Orchestra soft-PLC solution |
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Cartesian Interpolation
Modules OrchestraCore modules for planning and generating linear/circular trajectories
- StandardCartesianInterpolator
- AdvancedCartesianInterpolator
- CartesianInterpolatorWith GeometricLookAhead
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Kinematics Modules OrchestraCore modules that implement direct and inverse kinematics
- ClikDLS
- ClikInv
- ClikTransp
- KinDir
- QuaternionToRpy
- QuaternionToZyz
- ZyzToQuaternion
- RpyToQuaternion
- RedundantFreq
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Bspline and NURBS
Interpolation
Modules OrchestraCore modules for planning and generating B-spline or NURBS trajectories
- Bspline
- Nurbs
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CNC Modules OrchestraCore modules designed for Control Loops with the most common CNC features
- MotionSupervisor
- Jog
- Zero
- Selector
- SoftwareLimit
- DiagnosticManager
- MotionSupervisorInterface
- ActualPositionInterface
- AxisCompensation
- BacklashCompensation
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Compensation Modules OrchestraCore modules for machining head kinematics and 3D tool shape compensation
- Compensation3D
- DynamicToolLength
- RotatingToolCenterPoint
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| Interpreter RTAI application to interpret numerical control G-code programs and interact with OrchestraCore CNC Modules to execute machine works |
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| Sercos RTDM-compliant driver for Sercans SCS-P11 PCI board, with a library to access Sercos functions from hard real-time user applications |
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| Mechatrolink RTDM-compliant driver for Yaskawa NT110 PCI card, with a library to access Mechatrolink I/II functions from hard real-time user applications |
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| CanOpen RTDM-compliant driver for Hilscher CIF-50 COM Master board, with a library to access CanOpen functions from hard real-time user applications |
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| HMI Human Machine Interface for monitoring and interacting with Orchestra components |
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3D VRML
HMI models Some VRML 3D example models to be loaded into OrchestraHMI VRML panel
- Staubli RX130
- Comau NS16
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| LogicProgramming Integrated Development Environment for programming hard realtime logic control applications in PLC languages (IEC61131-3) that run on RunTimeManager |
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| Designer Integrated Development Environment for editing, configuration and building of OrchestraCore Control Loops |
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| Builder Development tool to generate C code and build OrchestraCore modules from Matlab/Simulink models by means of RTW/ERT toolbox |
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| CrossTools Software tool for building OrchestraCore modules on Windows systems with Designer and Builder |
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| ExampleLibrary OrchestraCore example control loop with PID regulator and Comedi I/O |
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ExampleLibraryCNC OrchestraCore example control loop with motion application for a 3 axes machine tools
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| User's Guides User's Guides for all the Orchestra Control Engine v1.5 suite components |
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