Control Software for the Active Headframe (AH) prallel kinematics robot

Software for the real time control and monitoring of a parallel kinematics robot developed in order to properly sustain patient's heads during surgical operations at the brain. Some features of the software: - Real time control based on a Master Ethercat running under Xenomai RT operating system - Zeroing routine and calibration improvements algorithms - specific interplation, kinematics, dynamic algorithms - GUI - UDP communication with other components of the ACTIVE project multirobot setup. - Manual guidance with a space mouse interface