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.ND
.FS
This work was partially supported by a Grant from the CNRS
project ARA (Automatique et Robotique Avanc\o"e\'"e), France, and
by the Ransburg Chair of Robotics.
This material is also based on work supported by the National
Science Foundation under the Grant No. MEA-8119884.
Any opinions, findings, conclusions, or recommendations
expressed in this publication are those of the authors
and do not necessarily reflect the views of the National
Science Foundation.
Facilities to perform this research are provided by the Purdue University
CIDMAC
project.
.FE
.ce 2
.B
RCCL Users's Manual
Version 1.0
.R
.sp 5
.ce 1
Vincent Hayward
.sp 3
.ce 3
School of Electrical Engineering
Purdue University
West Lafayette, Indiana, 47907
.sp 3
.ce 1
TR-EE 83-46
.sp 3
.ce 1
October 1983
.bp
.SH
Table of Contents
.NH 1
Introduction
.NH 1
Overview
.NH
Tutorial Introduction
.NH 1
Basic Components : Numbers, Vectors, Transformations, Differential motions, Forc
.NH 2
Numbers
.NH 2
Vectors
.NH 2
Transformations
.NH 2
Differential Motions and Forces.
.NH 2
Events
.NH 1
Task Description
.NH 2
Position Equations
.NH 2
Motion Description
.NH 3
The Basic Move Statement
.NH 3
Setting Options and Parameters
.NH 2
Synchronization
.NH 2
Functionally Defined Motions
.NH 1
Sensor Integration
.NH 2
Presetting the World Model.
.NH 2
Guarded Motions
.NH 2
Tracking
.NH 2
Updating the World Model
.NH
Force Control
.NH 2
Stop, Go on Force, on Displacement
.NH 2
Servo Modes, Comply and Lock
.NH 2
Carrying Loads
.NH 2
Examples
.NH 1
Structuring Programs
.NH
Limitations
.NH 2
Force Control
.NH 2
Machine Errors.
.NH 2
Process Size
.NH 2
Sample
.NH 2
Large Rotations.
.NH
The Planner and Play Program
.NH
Program Options
.NH
Teaching
.NH
Summary
.NH 2
Error Messages
.NH 2
Functions, Global Variables, and Macros
.NH 2
Undocumented Library Entry Points
.NH 2
Include Files
.NH
Transform Data Base
.NH
Details
.NH 2
Compile
.NH 2
Link
.NH 2
Lint
.NH 2
Run
.NH
The Display Program.
.NH
References