Abstract
In this paper, we present a general approach to develop a kinematic controller for any serial robots using Programmable Multi-Axes Controller (PMAC) and MoveIt!. PMAC, a commercial product for motion control, is an all-in-one embedded system to control motion, amplify signals and acquire sensor information. MoveIt! is a state-of-the-art software for kinematics-based manipulations. It integrates many recent robotic advances, such as, Universal Robot Description File (URDF), Open Motion Planning Library (OPML) and so on. We will describe YARC (Yet Another Robot Controller), a principled way of integrating PMAC and MoveIt! together with a design of a smart control panel (TCPad). Several examples were demonstrated to show the functional superiority of this controller. The source code and hardware design have been made publicly accessible for the community.
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