Abstract
In this paper, we present an object-oriented C++ library for robotic manipulator control and simulation, THRControl, which is inherited from Qt and VTK. The library package has advantages include support cross-platform applications; high flexibility and high computational efficiency meet the need of computations required in robot control such as forward kinematics, inverse dynamics, and jacobian. The experimental results show that it is very easy is construct a user-friendly manipulator control and simulation system.
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