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ERICA software architecture Most of the software is written in C++, with the User Interface frontend client written in HTML and JavaScript. The general idea is as follows: the ESF Connector (EC) implements the EuroSim's external simulator API and connects to the ESF simulation to extract required pose data. The required pose is the current relative position of the Camera and Lighting Unit relative to the active visual target. ESF Connector converts this relative pose into required pose for ERICA's platform. The Kinematics Driver (KD) takes this required pose

ERICA software architecture Most of the software is written in C++, with the User Interface frontend client written in HTML and JavaScript. The general idea is as follows: the ESF Connector (EC) implements the EuroSim's external simulator API and connects to the ESF simulation to extract required pose data. The required pose is the current relative position of the Camera and Lighting Unit relative to the active visual target. ESF Connector converts this relative pose into required pose for ERICA's platform. The Kinematics Driver (KD) takes this required pose

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Figure 2: ERA Basepoint with the visual target (on the left).
Figure 3: Schematic drawing of the End Effector during Proximity Motion.
Figure 7: ERICA electric schematic
Figure 8: ERICA software architecture Most of the software is written...
+2 Figure 9: ERICA User Interface ERICA's User Interface has been...
Design and implementation of a hardware-in-the-loop robotic testbed for the European Robotic Arm's wrist cameras
Conference Paper
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  • Jun 2018
The European Robotic Arm is a robotic manipulator system, which will be used to service the Russian Segment of the International Space Station. During most of the development and qualification activities, hardware tests of ERA were conducted on the Engineering Qualification Model. Recently, a new configuration, named Iron Bird, has been proposed to...
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