OSCAR (Operational Software Components for Advanced Robotics) is a set of C++
libraries for control and simulation of robotic systems developed at the University
of Texas at Austin. The following tutorials are aimed at teaching all of the
basic functionality needed to get started using OSCAR for simulation of robotic
manipulators. However, much of the functionality used when developing robust,
demonstration-ready applications is ignored in order to spend more time on the
fundamental components of OSCAR.
I. Introduction
This section will provide the necessary information to get started with OSCAR. It includes guidelines on
developing software for OSCAR as well as an explanation of setting up a Visual Studio Workspace to use
OSCAR libraries.
II. Math
This tutorial will demonstrate how to use the basic math components of OSCAR, such as vectors, matrices, and tensors.
III. Kinematics
This tutorial will demonstrate how to create objects for solving the Forward and Inverse position solutions. It
will also describe interfacing with the Roboworks simulation environment.
IV. Motion Planning
This tutorial will demonstrate how to use the OSCAR MotionPlanning library to plan smooth joint and EE trajectories.
V. Dynamics
This tutorial will demonstrate how to use OSCAR to perform dynamic analysis on serial robotic systems.
VI. Performance Criteria
This tutorial will show how to use Performance Criteria and Decision-Making to enhance performance of
redundant serial manipulators. It will also demonstrate several criteria fusion techniques.
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