coreDev provides User Interface/Robot Language/ Motion/Control Algorithms in plug-in form to the motion controller (i.e. coreCon) and provides S/W and development environment for easy development. It provides a user S/W development environment for the development of Kinematics and Motions, Control Algorithms and Custom UI of the user robot along with coreCon-supported Teaching, Job Programming Language, Motion Control, Monitoring, and Setting Functions. coreDev is designed as a plug-in real-time task operation structure and works with coreCon's builtin function to enable the user's professional application development. In addition, information provided by the coreCon API (e.g. joint position/velocity/acceleration, EndEffector’s position/Orientation, torque feedback from motors, control parameters, etc.) can be used to effectively apply and develop the robot of the user algorithm.

Features:

- All coreCon’s S/W functions available (teaching, job programming, monitoring, motion control etc.)

- Real-Time plug-in structure

- Supports EtherCAT Master, Multi-Axis and Synchrnized Real-Time Control

- Supports the Real-Time S/W development including QT based Custom UI, Custom Motions, Custom Kinematics, and Custom Control Algorithms etc.

- User designed motions and digital filters can be developed

- C/C++ Standard Language Usage

- Open source math lib (such as Eigen) available and built

- Supports the torque operation mode for dynamic based control such as the impedance control or the gravity compensation

- Provides PID sample source and porting guide of PID code for ROS

- Provides full-source codes for 6-axis robot’s forward and inverse kinematics

- Provide all documents for Linux development environment based on VMware