EjsRL Library
Aurova Group's Virtual Laboratory

Description

EjsRL is a high-performance Java library which provides a complete functional framework that represents the Robotics and Computer Vision (R&CV) engine for modelling advanced applications by means of Easy Java Simulations. All the components belonging to the library have been created in an object-oriented form thanks to Java language features. There are four important packages which define the most high-level API of this library: Robotics, Matrix Computation, Computer Vision and Remote Operation. In addition to the aforementioned packages, the library incorporates import/export functions for different file formats in order to allow users to save and restore their designs. In relation to the main packages, their functional architecture are based in the following criteria:

  • The Matrix Computation classes perform the mathematical computations required for solving all the R&CV algorithms. They cover the fundamental operations of numerical linear algebra, such as matrix and vector arithmetic (addition, multiplication, norms, etc). Besides, this package incorporates methods to perform the essential mathematical computations for Robotics, such as the axis rotation (X,Y,Z) and the transformations among Euler, Roll-Pitch-Yaw and matrix representations.
  • The Robotics package covers the fundamental engine for arbitrary serial-link Robotics computation such as kinematics (direct and inverse), trajectory planning and dynamics (direct and inverse). Most of the methods implemented are based in the well-known standard robotics algorithms. In addition, an interpreter of Java code has been included to allow users the compilation and execution of programming routines.
  • The Computer Vision classes contains a wide range of methods for image processing. It has implemented several standard computer vision algorithms which perform operations such as image transform and conversion, image adjustments, convolution, etc. Moreover, it allows users to handle different types of images (binary, gray scale, colour) and it incorporates geometrical data manipulation (points, edges and segment).
  • The Remote Operation functions permit users to communicate with remote devices through the HTTPS protocol. They are composed by several classes to perform HTTPS orders in an easy way.

Download Area

  • Documentation (Java Doc) You can access to the Robotics Library's documentation here.
  • Bynaries (Robotics.jar).
  • Source-code (contact with the author).

Software requeirements

Java Runtime Environment (1.6). You can download from the server here (Windows version).

Java 3D RunTime (1.4). You can download from the server here (Windows version).
JOGL. You can download from the server here (Windows version).
Web browser : Microsoft IE (version 5.5 or higher) or Mozilla FireFox.

 

Installation information

The installations of JRE and Java 3D are automaticaly managed when the downloaded files are executed. In contrast, the installation of JOGL is manual. To install JOGL, it is necessary extract from the compressed downloaded file the three files "jogl.dll", "jogl_awt.dll", "jogl_cg.dll" and "gluegen-rt.dll" (this last can be not necessary in old versionsof JOGL) and copy them into the "bin" folder of JRE. Also the files "jogl.jar" and "gluegen-rt.jar" (if it is included) have to be extracted and copied into the folder "lib\ext" of JRE. These folders are usually located in a path like "C:\Program Files\Java\jre1.6.0_01" in MS. Windows. You can see a little guide about the installation of Java, Java 3D and JOGL in the web of Open Source Physics project.

 

Examples

If you want to execute an applet, please ensure you have installed the software requeirements. Computer Vision applications only need Java Runtime Environment (JRE), but the Robotics applets also need Java 3D and JOGL.

Computer Vision Applets
3RRR

BASIC COMPUTER VISION OPERATIONS


3RRR
BLOBS OPERATIONS
3RRR
CORNER DETECTION
Robotics Applets
3RRR
ROBOT 3RRR


3RRR
PA-10 ROBOT
3RRR
VIRTUAL AND REMOTE LABORATORY (RobUALab.ejs)
3RRR
ROBOTIC HAND
Scara
SCARA ROBOT
3RRR
MULTI-ROBOTIC SYSTEM (I)
3RRR
MULTI-ROBOTIC SYSTEM (II)

 

 

AUROVA
Automatics, Robotics and Computer Vision Group

Deparment of Physics, System Engineering and Signal Theory

 

If you have any doubt, you can contact with the author