Control Software for the ACTIVE Project multirobot system

Real time software to control the robotic system developed within the ACTIVE EU project for surgical operations on the brain. Some features of the software are: - coordination of 2 kuka LWR 4+ arms; 1 custom parallel robot to sustain the head of the patient during the operation; 2 SIGMA devices for haptics teleoperation; 3d cameras for a safe human-robot cooperation; infra-red cameras for system calibration; software virtual constraints around brain zones to be avoided - provide a user interface to control the system through corba server and clients - provide advanced kinematic, interpolation, obstale avoidance features - provide real-time system performance monitoring