Welcome to the wiki pages of the Robot Systems Engineering (RSE) group of Automation and Control at DTU Electical engineering.
These pages will contain updated information on RSE projects and other issued related to robotics research.
(Mobile Robot software)
- AU Robot Servers (AURS) includes servers for soft real-time processing, e.g.: camera and laser scanner processing.
- RHD (Robot Hardware Daemon) is the hardware abstraction layer, with interface to real-time sensors and actuators.
- MRC - see SMR below - is the real-time movement control (and mission control using the SMR-CL language)
List of SMRs (List of SMRs)
SMR (Small Mobile Robot)
SMR test (SMR test procedures)
MMR (Medium Mobile Robot)
HAKO (KU Life tractor, now in Hohenheim University Germany)
Claas axion (Semi-autonomous heavy tractor)
hexakopter (notes for six-rotor helicopter including the pixhawk autopilot)
UR5 (Universal Robot UR5 Arm)
UR10 (Universal Robot UR10 Arm)
Labyrinth (Labyrinth game)
inspection robot (4/6-legged robot)
regbot (small robot intended as control-1 exercise)
SimServer Stage based multi robot simulator
Visual Tracking on Pixhawk (Position estimation of Pixhawk flight controller with external camera)
3D localization based on sensor network
Linux system considerations
Switchtool - Shift to Mobotware (development) branch on the robots
Rules for udev on RTAI (How to use udev rules to get correct modes for RTAI fifos and Comedi devices)
Platform list (List of computers used for various control set-ups)
Realtime testing (Description of small test procedures to verify RTAI realtime operation)
Introduction to Matlab RTW and RTAI (Guide for usage of RTAILab with Matlab RTW and Simulink)
NTP howto time-sync 2 computers
Using the RSE SVN repository
Flash disk cloning - to repair robot boot disk image
Install on (K)UBUNTU - for test and development on PC or laptop
Install on raspberry - install Mobotware on raspbian or a Debian based Linux on Beagle-bone.
Notes on compiling augclient - GUI interface for Mobotware used fx. in AGCO project
disable display manager on boot (and thereby the graphic user interface)
Citrix access to DTU files and Windows Apps (Using Citrix Receiver, preferred way from 2015+)
RoboCup - bl.a. scoreboard
Robot GUI (MARG) - (no longer maintained)
Install GUI-less UBUNTU - new boot disk image for robots