Kinematix-MKinematix-M™, developed in partnership with Supported Systems & Controller Options Kinematix-M supports the coordinate control of Motoman SIA and SDA family of single and dual arm robots. Depending on whether HSC or Motocom is used for communication with the controller, a Kinematix-M application can update the individual joint axis of the robot at rates of up to 500 Hz. Kinematix-M supports application development through an easy to use For higher performance, additional capabilities, and hard real time integration the RLX-I3 product from Agile Planet should be used. Kinematix-M Capabilities Autonomous Motion
Kinematix-M supports point to point, straight line Cartesian coordinates, and circular motions. Complex motions through a set of points can also be specified and Kinematix-M fits an appropriate curve that meets the motion constraints while not violating any hardware constraints.
Control Optimization
Kinematix-M implements advanced algorithms that actively utilize redundancy in the system to optimize robot control. These include travel limits and singularity avoidance. Additional optimization criteria, including coordinated torso control are available through the use of the Kinematix software. This functionality can be turned off for repeatable behavior or on for intelligent optimization.
Collision Prevention
High fidelity collision prevention between the arms is supported as well as capability to support collision prevention between peripheral devices and tools is available. Collision feedback information can be used to trigger haptic feedback. Collision prevention can be enabled and disabled and margins for the collision models specified.
Sensor Integration and Telerobotics
Kinematix-M provides a high speed jogging interface that can be used to control the robot end effector at update rates of up to 1000 Hz. This capability can be used for visual servoing, force control, haptic device integration, and telerobotics.
System Requirements and Performance
§ C/C++, Windows XP, Linux
§ 1 GHz Processor
§ 1 GB RAM (2 GB Recommended)
§ 256 MB Video Card for Simulator
§ 200 MB Hard Drive
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  Kinematix-M brochure and data sheet  High Speed Teleoperation and Coordinated Control of 15 DOF Dual Arm Motoman Robot with Real Time Collision Prevention
 A demonstration application developed using Kinematix-M that uses the Keyboard for interactive control of the SDA10  An example showing Torso Control using the Kinematix-M library.
 7 Axis single and 15 axis dual arms with payloads from 5 kg to 50 kg
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the world’s leading robot manufacturer, Motoman, builds on the Kinematix technology to offer industrial-grade manipulation software that seamlessly integrates with Motoman’s high dexterity dual-arm and other robots. The Kinematix-M software and Motoman hardware offers users high-speed control, sensor integration, collision avoidance, telerobotics and motion planning capabilities. Available globally for commercial use and deployment through Motoman, the system is able to perform applications not previously possible.
programming interface. Support for models other than the SIA and SDA series is also available through Kinematix. Kinematix-M software is available with the DX100 robot controller from Motoman and can be used in two ways. The first uses an HSC add on that allows a Windows XP or Linux PC to command motion at rates up to 500 Hz. The second option uses Motocom or eServer software from Motoman to integrate a Kinematix-M application with the DX100 controller. This option allows maximum command rates of 40 Hz. Neither of these options are suited for hard real time control.