Kinematix-MKinematix-M™, developed in partnership with Supported Systems & Controller Options Kinematix-M supports the coordinated control of Motoman SIA and SDA family of single and dual arm robots. Kinematix-M is available with two different controller configurations. The first configuration uses the existing Motoman DX100 controller and allows Kinematix-M to communicate with it over a High Speed Synchronous Controller (HSC) add on from Motoman. The second configuration uses the KMX compact controller from Agile Planet that supports update rates of 1000 Hz along with high bandwidth trajectory control and optional torque control. Kinematix-M software is available with a choice of two controllers. The first is the traditional Motoman DX100 controller with an HSC add on that allows a Windows XP or Linux PC to command motion at rates up to 500 Hz. The second option is the KMX compact controller that uses Ethercat for real-time integration with a user PC running a real-time operating system and providing trajectory and torque update rates of up to 1000 Hz. The KMX controller offers a higher bandwidth control performance in terms of trajectory update rate and lower following error. These characteristics make it better suited for visual servoing and contact control. Options for controlling individual axis motor torques and battery operation are available on request. Kinematix-M Capabilities Autonomous Motion
Kinematix-M supports point to point, straight line Cartesian coordinates, and circular motions. Complex motions through a set of points can also be specified and Kinematix-M fits an appropriate curve that meets the motion constraints while not violating any hardware constraints.
Control Optimization
Kinematix-M implements advanced algorithms that actively utilize redundancy in the system to optimize robot control. These include travel limits and singularity avoidance. Additional optimization criteria, including coordinated torso control are available through the use of the Kinematix software. This functionality can be turned off for repeatable behavior or on for intelligent optimization.
Collision Prevention
High fidelity collision prevention between the arms is supported as well as capability to support collision prevention between peripheral devices and tools is available. Collision feedback information can be used to trigger haptic feedback. Collision prevention can be enabled and disabled and margins for the collision models specified.
Sensor Integration and Telerobotics
Kinematix-M provides a high speed jogging interface that can be used to control the robot end effector at update rates of up to 1000 Hz. This capability can be used for visual servoing, force control, haptic device integration, and telerobotics.
System Requirements and Performance
§ C/C++, Windows XP, Linux, Windows CE
§ 1 GHz Processor
§ 1 GB RAM (2 GB Recommended)
§ 256 MB Video Card for Simulator
§ 200 MB Hard Drive
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  A demonstration application developed using Kinematix-M that uses the Keyboard for interactive control of the SDA10  Kinematix-M brochure and data sheet  High Speed Teleoperation and Coordinated Control of 15 DOF Dual Arm Motoman Robot with Real Time Collision Prevention
 An example showing Torso Control using the Kinematix-M library.
 7 Axis single and 15 axis dual arms with payloads from 5 kg to 50 kg
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the world’s leading robot manufacturer, Motoman, builds on the Kinematix technology to offer industrial-grade manipulation software that seamlessly integrates with Motoman’s high dexterity dual-arm and other robots. The Kinematix-M software and Motoman hardware offers users high-speed control, sensor integration, collision avoidance, telerobotics and motion planning capabilities. Available globally for commercial use and deployment through Motoman, the system is able to safely perform applications not previously possible.