Energid Technologies provides software and services for robotics and machine vision applications. Robotic products and services include those for controlling kinematically redundant, bifurcating manipulators. We provide a software toolkit for control and simulation. Our specialty is that our control algorithms can be applied to almost any type of manipulator. From simple three-link mechanisms to complex 50-link robotic devices, control algorithms and manipulators are configurable and network exchangeable through a common interface using the Extensible Markup Language (XML). The control algorithms are implemented in self-testing C++. Our techniques can be applied to give configurable behaviors, such as singularity avoidance, torque minimization, obstacle avoidance, fault tolerance, minimum-kinetic-energy control, minimum-potential- energy control, and accuracy optimization. These can be applied to virtual reality training, medical, agricultural, harvesting, supervisory control, defense, space-based, and other engineering applications.
The control algorithms work with multiple cooperating manipulators. Exchangeable, flexible end- effector descriptions are supported. Multiple manipulators are organized into a system that does not change with time and a state that does. System and state are separated at the top-most level to allow natural control of cooperating manipulators. The topology of each manipulator is represented using a link tree, where any link can have any number of child links. The kinematics of each link’s joint can be represented using generic table functions. The physical extent of each link is described using a polygon mesh, with each polygon having a unique XML-describable surface property. Actuator properties, including motor inertia and friction, as well as dynamic joint controllers, are part of the system dynamics.
Our machine-vision techniques work with IR, optical, and ladar sensors. Our strengths include
sensor fusion, object recognition, and networked target tracking. Specific methods are provided for
tracking tools for surgical simulation and training.
Nucleus Software Toolkit
Telophase Software Toolkit
Selectin Software Toolkit