Actin  Version 5.5.1
Software for Robotics Simulation and Control
Actin Viewer User's Guide

The Actin Viewer is a tool that’s included with the SDK, used for configuring models and testing motions. It has many powerful features that allow for real time end-effector or joint level control. The interface can be customized with different plugins and will change as additional plugins are loaded. Configuring models and control systems is an iterative process, and developers may need to make adjustments based on the tasks being assigned/tasked to manipulators.

Model Tuning

Tuning the model parameters involves using the Actin Viewer and its plugins to edit things like the System (EcStatedSystem) , State (EcManipulatorSystemState), and Configuration (EcManipulatorSystemConfiguration).

Editing the System

Generally one of the first steps to perform after a model has been created using Actin's CAD converter or other tools is to configure the bounding volumes. The purpose of this step is to encapsulate each link geometry with a set of convex primitive shapes that will be used for collision detection and sometimes collision avoidance. For this step we use the Shape Primitive Plugin. This plugin can also be used to create new manipulators from convex shapes that can be used to mock up environments and tooling.

BVBeforeAfter.png

Another step is to configure Named Frames (EcNamedFrame) using the Named Frames Plugin

NamedFrameExample.png

Editing the State

The state of the model is calculated when the EcPositionControlSystem runs and calls calculateState. Users can also manually configure the state of the manipulators in the model using plugins.

The joint state of each manipulator can be directly set using the Manipulator Configuration dialog.

Setting the "base" position state of a manipulator can be performed using the Manipulator Configuration or using the Context Menu.

Editing the Configuration

Attachments can be configured using the Manipulator Attachment Plugin.

Collision Exclusion can be configured using the Collisions Exclusion Plugin

Control System Tuning

Configuring a EcPositionControlSystem generally involves a number of steps. This process configures the manipulators for motion.

  1. Creating EcEndEffectorSet and EcEndEffector for each type of motion required. This can be performed using the End Effector Control Plugin.
  2. Creating Tool Offsets for each type of EcEndEffector needed. This can be performed here using using the End Effector Control Plugin
  3. Enabling the EcPositionController for each manipulator that is to be controlled by the EcPositionControlSystem, and disabling the EcPositionController for each manipulator that isn't controlled. This can be performed using the Control System Plugin.
  4. Confguring the "joint rate filter" control parameters, which limits the speed of each joint during end effector motion. This can be edited here.
  5. Confguring the End Effector Error Filter to stop at joint limits and collisions. This can be edited here.

Tasking the Model

To sequence the motion of a model to perform some task, we can use the Motion Script GUI.

Using the Actin Viewer