# microblx-motion-control

**Repository Path**: electron/microblx-motion-control

## Basic Information

- **Project Name**: microblx-motion-control
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2024-01-18
- **Last Updated**: 2024-01-18

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# microblx motion control

<!-- markdown-toc start - Don't edit this section. Run M-x markdown-toc-refresh-toc -->
**Table of Contents**

- [Installation](#installation)
- [Block Index](#block-index)
- [Compositions](#compositions)
    - [`mix_ptrig_nrt`](#mix_ptrig_nrt)
    - [`frag_pid_sat`](#frag_pid_sat)
    - [`frag_jnt_vel`](#frag_jnt_vel)
    - [`app_jnt_vel`](#app_jnt_vel)
    - [`app_jnt_moveto`](#app_jnt_moveto)
- [References](#references)

<!-- markdown-toc end -->

This repo contains a set of generic, hardware independent microblx
block models and blocks as well as composable usc models. The [Block
models](#block-models) section describes relevant planned and
available blocks. Section [Compositions](#compositions) describes
generic and reusable composition models for building typical motion
control systems using the former blocks.

## Installation

**Dependencies**

- microblx v0.9 or newer
- for the `trajgen_rml` block the reflexxes library is required. It
  was tested with [this](https://github.com/kschwan/RMLTypeII)
  version.

**Building**

```bash
$ mkdir build
$ cd build
$ cmake ..
 ...
$ make
$ sudo make install
```

## Block Index

| Name        | Description                             | Status              | Where                                                                                           |
|-------------|-----------------------------------------|---------------------|-------------------------------------------------------------------------------------------------|
| manipulator | a robotic manipulator dummy block       | skelleton available | [this repo](src/manipulator/manipulator.md)                                                     |
| pid         | pid controller block                    | available           | [microblx](https://microblx.readthedocs.io/en/latest/block_index.html#module-pid)               |
| saturation  | generic saturation block                | available           | [microblx](https://microblx.readthedocs.io/en/latest/block_index.html#module-saturation-double) |
| trajgen_rml | libreflexxes based trajectory generator | available           | [this repo](src/trajgen_rml/trajgen_rml.md)                                                     |


## Compositions

This sections describes a number of reusable usc compositions. The
follwing naming scheme is used:

- `mix_` compositions are intended to be *mixed-in* on the command
  line as additional arguments to `-c`. They are usually not
  launchable standalone.
- `frag_` compositions are reusable application fragments that can be
  used as building blocks in applications. They may or may not be
  launchable standalone.
- `app_` compositions compose `frag_` compositions to build
  applications. They are launchable standalone.

[mix_ptrig_nrt](usc/mix_ptrig_nrt.usc) is a generic mixin model for
late addition of a pthread trigger to avoid cluttering the application
with platform specifics. It is used by several of the following
examples.


**List of compositions**:

- [cascaded controllers](usc/cascaded-ctrl/README.md): two variants of
  position control compositions
- [jnt_moveto](usc/jnt_moveto/README.md): free-space trajectory following
- [jnt_vel](usc/jnt_vel/README.md): a multi-level composition of a
  jnt_space velocity controller.