RobCoGen is a code generator of efficient code for the kinematics and dynamics of articulated robots. It is designed to achieve best performance in terms of execution times, as well as to relieve the user from manual development of critical software.
RobCoGen is suitable for both simulations and control of real hardware in hard real-time! It is distributed along with its source code under a very permissive license.
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(website last updated on December 2018)