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A framework for implementing real-time control systems
...Because of a high-level schematic-description language -- in form of provided Scilab commands -- only a minimal implementation-effort (no error-prone C-programming) is required.
RTSS is intended for modeling and simulation of robotic manipulators in the Scilab/Scicos environment. Inspired by the Robotics Toolbox for MATLAB by Peter Corke, RTSS provides many functions that are useful in the field of robotics.