Introduction

The EASY-ROB™ Kernel offers immediately more than 1000 kinematics, robots and devices for kinematics calculations, as well as trajectory planning (motion interpolation) for different motion types such as PTP-, SLEW-, LIN- and CIRC-movements. A powerful collision detection and a collision free path planner 'AutoPath' is available as well. Additionally functions for some useful math calculation are supplied.

The purpose of the EASY-ROB™ Kernel is to be integrated in technology based software application (host application) developed by OEM Partners. This kernel provides API-functions and services for complete robotics functionality. The host application is in charge for the 3D visualization and the administration of all geometries and handles of all kinematics. The EASY-ROB™ Kernel supplies a handle for every loaded kinematics.

Features

The EASY-ROB™ Kernel provides mathematics, kinematics and trajectory planner capabilities, as well as algorithms for collision detection.

Robot Kinematics

Load existing EASY-ROB™ robots, devices, tools, etc.
All standard, optional robots*) and user defined devices are available
Access to all robots attributes
Forward kinematics transformation
Inverse coordinate transformation
TCP- and Joint-Jogging
Access to all robots axis coordinate systems
*) ABB / FANUC / KUKA / YASKAWA / PKM DELTA / STAUBLI / TRICEPT / COBOTS

Robot Trajectory planning and -execution

Motion types: PTP, SLEW, LIN and CIRC
Tool guided movement
Work piece guided movement, external tcp
Track Motion
Conveyor Tracking
Tracking Windows for painting applications with conveyor tracking
External synchronized positioner
Wait
Automatic reduction of the speed, due to singularity
Cycle time estimation, different velocity profiles

Collision Detection

High performed collision detection with three different query types
COLLIDE detects collision between two Models
DISTANCE computes the distance between two Models
TOLERANCE checks if distance between Models is <= tolerance
Collision Result functions for detailed status information

AutoPath

Collision free path planning, based on RRT Algorithm (Rapidly-Exploring Random Trees)
AutoPath calculates waypoints for devices and robots to avoid collisions and other constraints
Maximum configuration space up to 24
Individual constraints can be verified in a user defined callback function
AutoPath calculation can run in a thread or via a direct function call

Mathematics

Multiplication / inversion / transpose routines for homogeneous transformation matrices (frames)
Frame conversion into Euler angles (i.e. Yaw Pitch Roll) and quaternion or vice versa
Routines for building frames (i.e. RotX, RotY, RotZ, TransXYZ and more ...)

Application Programming Interface (API)

The API-Functions and methods respectively services are ajar to the RRS-interface description Realistic Robot Simulation (RRS).
This API is available in two version. The first original version provides Standard ANSI-C compatible functions. The second version wraps these functions and exports the method class ERK_CAPI, which gives a better structure and is easier to use. We recommend Microsoft® Visual Studio C++. Other compilers are possible as well.

The EASY-ROB™ Kernel is available on windows x64.
To work with the original version, the below two header files are required

erk_capi_types.h
er_kernel_main.h

They declare data types and interface functions supplied with this Kernel and for usages in the host application. The exported functions are also available in the module definition file (EasySimKernel.def).

To work with the the method class ERK_CAPI, the below two header files are required

erk_capi_types.h
erk_capi.h

class ERK_CAPI

A Method class containing all other ERK_CAPI_* classes
The main class ERK_CAPI is sub-divided in following classes

ERK_CAPI_ADMIN Method class to administrate the EASY-ROB™ Kernel
ERK_CAPI_DEVICES Method class to create, attach, update devices, for kinematics calculations and for trajectory-planning and -execution
ERK_CAPI_SIM Method class for simulation settings
ERK_CAPI_AUTOPATH Method class for collision free path planning
ERK_CAPI_GEO Method class to handle 3D Geometry Data
ERK_CAPI_SYS Method class for mathematical calculations, simulation status, units

class ERK_CAPI_ADMIN

A Method class to administrate the EASY-ROB™ Kernel

ERK_CAPI_ADMIN A Method class to administrate the EASY-ROB™ Kernel
ERK_CAPI_CALLBACKS A Method class for Callback functions

class ERK_CAPI_DEVICES

A Method class to create, attach, update devices, for kinematics calculations and for trajectory-planning and -execution

ERK_CAPI_DEVICES Method class to create, attach, update devices, for kinematics calculations and for trajectory-planning and -execution
ERK_CAPI_ROB Method class for kinematics and transformations
ERK_CAPI_MOP Method class for trajectory planning and -execution
ERK_CAPI_TOOLPATH Method class for tool path definition

class ERK_CAPI_ROB

A Method class for kinematics and transformations

ERK_CAPI_ROB Method class for kinematics and transformations
ERK_CAPI_ROB_KIN Method class forward-, Inverse kinematics, desired robot joints, tools, position w.r.t. world and reference system
ERK_CAPI_ROB_ATRIBUTES Method class for robot/device attributes, travel ranges, home position, device name, ...

class ERK_CAPI_MOP

A Method class for trajectory planning and -execution

ERK_CAPI_MOP Method class for trajectory planning and -execution
ERK_CAPI_MOP_DATA Method class for start-, target data, motion time, etc
ERK_CAPI_MOP_PATH Method class for path specifications, motion type (PTP, LIN, CIRC), speeds, acceleration, waiting time, etc.
ERK_CAPI_MOP_PREP Method class for trajectory-planning with preparation
ERK_CAPI_MOP_EXEC Method class for trajectory-execution

class ERK_CAPI_TOOLPATH

A Method class for tool path definition

ERK_CAPI_TOOLPATH Method class for tool path definition
ERK_CAPI_TOOLPATH_TARGETS Method class to create, unload and specify target locations
ERK_CAPI_TOOLPATH_HEAD Method class to set and get tool path motion header data for target locations
ERK_CAPI_TOOLPATH_INSTRUCTIONS Method class to set and get Instructions for target locations
ERK_CAPI_TOOLPATH_EVENTS Method class to set and get tool path events for target locations
ERK_CAPI_TOOLPATH_ATTRIBUTES_AUX Method class to set and get tool path auxiliary motion attributes for target locations
ERK_CAPI_TOOLPATH_ATTRIBUTES Method class to set and get tool path motion attributes for target locations
ERK_CAPI_TOOLPATH_MOVE_JOINT Method class to specify a joint motion for target location
ERK_CAPI_TOOLPATH_MOVE_CP Method class to specify a cp motion for target location
ERK_CAPI_TOOLPATH_MOTION_EXEC Method class to access motion execution data at target
ERK_CAPI_TOOLPATH_EXTAX_TRACKMOTION Method class to specify external axis data for a track/slider-motion for target location
ERK_CAPI_TOOLPATH_EXTAX_POSITIONER Method class to specify external axis data for a positioner for target location
ERK_CAPI_TOOLPATH_TOOLBOX Method class for miscellaneous tool path calculations
ERK_CAPI_TOOLPATH_APIPP Method class for post processing, creating a robot program for a tool path
ERK_CAPI_TOOLPATH_CREATE Method class to create tool pathes

class ERK_CAPI_SIM

A Method class for simulation settings

ERK_CAPI_SIM Method class for simulation settings
ERK_CAPI_SIM_COLLISION Method class for collision, tolerances, etc.

class ERK_CAPI_AUTOPATH

A Method class for collision free path planning

ERK_CAPI_AUTOPATH Method class for collision free path planning

class ERK_CAPI_GEO

A Method class to handle 3D Geometry Data

ERK_CAPI_GEO Method class to handle 3D Geometry Data
ERK_CAPI_GEO_MNGR Method class to access geometry manager 'GeoMngr' methods

class ERK_CAPI_SYS

A Method class for mathematical calculations, simulation status, units

ERK_CAPI_SYS Method class for mathematical calculations, simulation status, units
ERK_CAPI_SYS_UTILITIES Method class for helping functions, color conversion, etc.
ERK_CAPI_SYS_MATHEMATICS Method class for mathematical calculations, multiplications of homogeneous matrices, conversion Euler angle, triangle calculations, formula parser, etc.

Information and Support

Web: EASY-ROB™ Kernel
Email: support@easy-rob.com

OEM Products & Partners

Below OEM Partners have implemented the EASY-ROB™ Kernel into their technology based software products. Some other customers use the kernel for miscellaneous application.

Famos robotic®, DESMA Schuhmaschinen GmbH
SKM DCAM multi-axis robot system, S.K.M. Informatik GmbH
ZEISS ABIS Planner - Programming virtual robot cells, Carl Zeiss Optotechnik GmbH
PRAFS-EMUSIM - Virtual Clamping, PROTOS-3D Metrology GmbH
iSILOG Toolbox– PLCConnect Siemens NX MCD- EDAG iSILOG - Virtual Commissioning Software, EDAG Production Solutions GmbH & Co. KG
WELDFACTORY, Mabotic - Robotics & Automation
ISV Car, Isvision (Tianjin) Technology Co., Ltd.

Contact

EASY-ROB Software GmbH
Hauptstr. 42
65719 Hofheim am Taunus, Germany
Tel.: +49 (0) 6192 921 70-77
sales.nosp@m.@eas.nosp@m.y-rob.nosp@m..com