# RobotController

**Repository Path**: chengminghao/robot-controller

## Basic Information

- **Project Name**: RobotController
- **Description**: Visual servoing controller
- **Primary Language**: Unknown
- **License**: MulanPSL-2.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2021-07-16
- **Last Updated**: 2026-03-07

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

中文：
运行该程序需要安装一下依赖库：
1、VISP:视觉伺服开源库，主要用到这部分APRILTAG相关的处理，安装教程见官网，对应的Realsense库也需要安装好
2、MC-KERNEL：运动控制内核，直接在gitee上download下载然后编译即可
3、master:EtherCAT主站，这里需要安装Xenomai实时子系统
4、grpc：远程调用库，用于分布式设备通信用的
关于电机参数的一些提醒：
1、目前使用的电机一种是清能德创提供的，那个电机的编码器分辨率是8388608，另外一种是松下驱动器下对应的编码器分辨率，那个电机的编码器分辨率是131072

英文：
Running the program needs to install the following dependent libraries:
1, VISP: visual servo open source library, mainly used in this part of the APRILTAG-related processing, installation tutorials see the official website, the corresponding Realsense library also needs to be installed!
2, MC-KERNEL: motion control kernel, directly in the gitee download download and then compile can be
3、master:EtherCAT master, here need to install Xenomai real-time subsystems
4、grpc: remote call library, used for distributed device communication with the
Some reminders about the motor parameters:
1, the current use of a motor is provided by Qingneng Dechuang, the motor's encoder resolution is 8388608, the other is the corresponding encoder resolution under the Panasonic drive, the motor's encoder resolution is 131072