ROBOOP - A robotics object oriented package in C++
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Demo program output
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ROBOOP -- A robotics object oriented package in C++
DEMO program
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Homogeneous transformations
=====================================================
Translation of [1;2;3]
1.000 0.000 0.000 1.000
0.000 1.000 0.000 2.000
0.000 0.000 1.000 3.000
0.000 0.000 0.000 1.000
Rotation of pi/6 around axis X
1.000 0.000 0.000 0.000
0.000 0.866 -0.500 0.000
0.000 0.500 0.866 0.000
0.000 0.000 0.000 1.000
Rotation of pi/8 around axis Y
0.924 0.000 0.383 0.000
0.000 1.000 0.000 0.000
-0.383 0.000 0.924 0.000
0.000 0.000 0.000 1.000
Rotation of pi/3 around axis Z
0.500 -0.866 0.000 0.000
0.866 0.500 0.000 0.000
0.000 0.000 1.000 0.000
0.000 0.000 0.000 1.000
Rotation of pi/3 around axis [1;2;3]
0.536 -0.623 0.570 0.000
0.766 0.643 -0.017 0.000
-0.356 0.446 0.821 0.000
0.000 0.000 0.000 1.000
Rotation of pi/6 around line [1;2;3] -- [3;2;1]
0.750 0.612 -0.250 -0.225
-0.612 0.500 -0.612 3.449
-0.250 0.612 0.750 -0.225
0.000 0.000 0.000 1.000
Roll Pitch Yaw Rotation [1;2;3]
0.412 -0.834 -0.368 0.000
-0.059 -0.427 0.902 0.000
-0.909 -0.350 -0.225 0.000
0.000 0.000 0.000 1.000
Euler ZXZ Rotation [3;2;1]
-0.485 0.865 0.128 0.000
0.423 0.104 0.900 0.000
0.765 0.491 -0.416 0.000
0.000 0.000 0.000 1.000
Inverse of Rotation around axis
0.267
0.535
0.802
1.047
Inverse of Roll Pitch Yaw Rotation
-2.142
1.142
-0.142
Inverse of Euler ZXZ Rotation
3.000
2.000
1.000
Cross product between [1;2;3] and [3;2;1]
-4.000
8.000
-4.000
Rotation matrix from quaternion
0.707 -0.707 0.000
0.707 0.707 0.000
0.000 0.000 1.000
Transformation matrix from quaternion
0.707 -0.707 0.000 0.000
0.707 0.707 0.000 0.000
0.000 0.000 1.000 0.000
0.000 0.000 0.000 1.000
Quaternion from rotation matrix
0.924
-0.000
-0.000
0.383
Quaternion from transformation matrix
0.924
-0.000
-0.000
0.383
=====================================================
Robot RR kinematics
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Robot D-H parameters
type theta d a alpha
0.000 0.000 0.000 1.000 0.000
0.000 0.000 0.000 1.000 0.000
Robot joints variables
0.000
0.000
Robot position
1.000 0.000 0.000 2.000
0.000 1.000 0.000 0.000
0.000 0.000 1.000 0.000
0.000 0.000 0.000 1.000
Robot joints variables
0.785
0.785
Robot position
0.000 -1.000 0.000 0.707
1.000 0.000 0.000 1.707
0.000 0.000 1.000 0.000
0.000 0.000 0.000 1.000
Robot Jacobian w/r to base frame
-1.707 -1.000
0.707 0.000
0.000 0.000
0.000 0.000
0.000 0.000
1.000 1.000
Robot Jacobian w/r to tool frame
0.707 0.000
1.707 1.000
0.000 0.000
0.000 0.000
0.000 0.000
1.000 1.000
Robot position partial derivative with respect to joint 1
-1.000 -0.000 0.000 -1.707
0.000 -1.000 0.000 0.707
0.000 0.000 0.000 0.000
0.000 0.000 0.000 0.000
Robot position partial derivative with respect to joint 2
-1.000 -0.000 0.000 -1.000
0.000 -1.000 0.000 0.000
0.000 0.000 0.000 0.000
0.000 0.000 0.000 0.000
Robot inverse kinematics
q start q final q real
0.196 0.785 0.785
0.196 0.785 0.785
=====================================================
Robot RP kinematics
=====================================================
Robot D-H parameters
type theta d a alpha
0.000 0.000 0.000 0.000 -1.571
1.000 0.000 0.000 0.000 0.000
Robot joints variables
0.000
0.000
Robot position
1.000 -0.000 0.000 0.000
0.000 0.000 1.000 0.000
0.000 -1.000 0.000 0.000
0.000 0.000 0.000 1.000
Robot joints variables
0.785
4.000
Robot position
0.707 -0.000 -0.707 -2.828
0.707 0.000 0.707 2.828
0.000 -1.000 0.000 0.000
0.000 0.000 0.000 1.000
Robot Jacobian w/r to base frame
-2.828 -0.707
-2.828 0.707
0.000 0.000
0.000 0.000
0.000 0.000
1.000 0.000
Robot Jacobian w/r to tool frame
-4.000 -0.000
-0.000 0.000
0.000 1.000
0.000 0.000
-1.000 0.000
0.000 0.000
Robot position partial derivative with respect to joint 1
-0.707 -0.000 -0.707 -2.828
0.707 -0.000 -0.707 -2.828
0.000 -0.000 0.000 0.000
0.000 0.000 0.000 0.000
Robot position partial derivative with respect to joint 2
0.000 0.000 0.000 -0.707
0.000 0.000 0.000 0.707
0.000 0.000 0.000 0.000
0.000 0.000 0.000 0.000
Robot inverse kinematics
q start q final q real
0.196 0.785 0.785
1.000 4.000 4.000
=====================================================
Robot PUMA560 kinematics
=====================================================
Robot D-H parameters
type theta d a alpha
0.000 0.000 0.000 0.000 1.571
0.000 0.000 0.000 0.432 0.000
0.000 0.000 0.150 0.020 -1.571
0.000 0.000 0.432 0.000 1.571
0.000 0.000 0.000 0.000 -1.571
0.000 0.000 0.000 0.000 0.000
Robot joints variables
0.000
0.000
0.000
0.000
0.000
0.000
Robot position
1.000 0.000 0.000 0.452
0.000 1.000 0.000 -0.150
0.000 0.000 1.000 0.432
0.000 0.000 0.000 1.000
Robot joints variables
0.785
0.785
0.785
0.785
0.785
0.785
Robot position
-0.957 0.250 -0.146 0.017
0.250 0.457 -0.854 -0.196
-0.146 -0.854 -0.500 0.326
0.000 0.000 0.000 1.000
Robot Jacobian w/r to base frame
0.196 -0.230 -0.014 0.000 -0.000 0.000
0.017 -0.230 -0.014 -0.000 0.000 0.000
-0.000 -0.126 -0.432 0.000 0.000 0.000
0.000 0.707 0.707 -0.707 0.500 -0.146
0.000 -0.707 -0.707 -0.707 -0.500 -0.854
1.000 0.000 0.000 0.000 0.707 -0.500
Robot Jacobian w/r to tool frame
-0.183 0.181 0.073 -0.000 0.000 0.000
0.057 -0.055 0.358 -0.000 0.000 0.000
-0.043 0.293 0.230 0.000 0.000 -0.000
-0.146 -0.854 -0.854 0.500 -0.707 -0.000
-0.854 -0.146 -0.146 -0.500 -0.707 0.000
-0.500 0.500 0.500 0.707 0.000 1.000
Robot position partial derivative with respect to joint 1
-0.250 -0.457 0.854 0.196
-0.957 0.250 -0.146 0.017
-0.000 0.000 0.000 0.000
0.000 0.000 0.000 0.000
Robot position partial derivative with respect to joint 2
0.104 0.604 0.354 -0.230
0.104 0.604 0.354 -0.230
-0.500 0.500 -0.707 -0.126
0.000 0.000 0.000 0.000
Robot position partial derivative with respect to joint 3
0.104 0.604 0.354 -0.014
0.104 0.604 0.354 -0.014
-0.500 0.500 -0.707 -0.432
0.000 0.000 0.000 0.000
Robot position partial derivative with respect to joint 4
0.104 0.604 0.354 0.000
-0.104 -0.604 -0.354 0.000
-0.854 -0.146 0.500 0.000
0.000 0.000 0.000 0.000
Robot position partial derivative with respect to joint 5
-0.104 0.104 0.854 0.000
-0.604 0.604 0.146 0.000
-0.354 0.354 -0.500 0.000
0.000 0.000 0.000 0.000
Robot position partial derivative with respect to joint 6
0.250 0.957 0.000 0.000
0.457 -0.250 0.000 0.000
-0.854 0.146 0.000 0.000
0.000 0.000 0.000 0.000
Robot inverse kinematics
q start q final q real
0.196 0.785 0.785
1.000 0.785 0.785
1.000 0.785 0.785
1.000 0.785 0.785
1.000 0.785 0.785
1.000 0.785 0.785
=====================================================
Robot STANFORD kinematics
=====================================================
Robot D-H parameters
type theta d a alpha
0.000 0.000 0.412 0.000 -1.571
0.000 0.000 0.154 0.000 1.571
1.000 -1.571 0.000 0.000 0.000
0.000 0.000 0.000 0.000 -1.571
0.000 0.000 0.000 0.000 1.571
0.000 0.000 0.263 0.000 0.000
Robot joints variables
0.000
0.000
0.000
0.000
0.000
0.000
Robot position
0.000 1.000 0.000 0.000
-1.000 0.000 0.000 0.154
0.000 0.000 1.000 0.675
0.000 0.000 0.000 1.000
Robot joints variables
0.785
0.785
0.785
0.785
0.785
0.785
Robot position
0.073 -0.280 0.957 0.536
0.280 0.927 0.250 0.567
-0.957 0.250 0.146 1.006
0.000 0.000 0.000 1.000
Robot Jacobian w/r to base frame
-0.567 0.420 0.500 -0.027 0.066 0.000
0.536 0.420 0.500 0.159 -0.120 -0.000
0.000 -0.780 0.707 -0.093 -0.224 0.000
0.000 -0.707 0.000 0.500 -0.146 0.957
0.000 0.707 0.000 0.500 0.854 0.250
1.000 0.000 0.000 0.707 -0.500 0.146
Robot Jacobian w/r to tool frame
0.109 0.895 -0.500 0.131 0.186 -0.000
0.655 0.077 0.500 0.131 -0.186 -0.000
-0.409 0.393 0.707 0.000 0.000 0.000
-0.957 0.146 0.000 -0.500 0.707 0.000
0.250 0.854 0.000 0.500 0.707 -0.000
0.146 -0.500 0.000 0.707 0.000 1.000
Robot position partial derivative with respect to joint 1
-0.280 -0.927 -0.250 -0.567
0.073 -0.280 0.957 0.536
0.000 0.000 0.000 0.000
0.000 0.000 0.000 0.000
Robot position partial derivative with respect to joint 2
-0.677 0.177 0.104 0.420
-0.677 0.177 0.104 0.420
-0.250 -0.457 -0.854 -0.780
0.000 0.000 0.000 0.000
Robot position partial derivative with respect to joint 3
0.000 0.000 0.000 0.500
0.000 0.000 0.000 0.500
0.000 0.000 0.000 0.707
0.000 0.000 0.000 0.000
Robot position partial derivative with respect to joint 4
-0.677 -0.530 -0.104 -0.027
0.530 -0.323 0.604 0.159
0.104 0.604 -0.354 -0.093
0.000 0.000 0.000 0.000
Robot position partial derivative with respect to joint 5
-0.677 0.677 0.250 0.066
-0.177 0.177 -0.457 -0.120
-0.104 0.104 -0.854 -0.224
0.000 0.000 0.000 0.000
Robot position partial derivative with respect to joint 6
-0.280 -0.073 0.000 0.000
0.927 -0.280 0.000 0.000
0.250 0.957 0.000 0.000
0.000 0.000 0.000 0.000
Robot inverse kinematics
q start q final q real
0.196 0.785 0.785
1.000 0.785 0.785
1.000 0.785 0.785
1.000 0.785 0.785
1.000 0.785 0.785
1.000 0.785 0.785
=====================================================
Robot RR dynamics
=====================================================
Robot D-H parameters
type theta d a alpha
0.000 0.000 0.000 1.000 0.000
0.000 0.000 0.000 1.000 0.000
Robot D-H inertial parameters
mass cx cy cz Ixx Ixy Ixz Iyy Iyz Izz
2.000 -0.500 0.000 0.000 0.000 0.000 0.000 0.167 0.000 0.167
1.000 -0.500 0.000 0.000 0.000 0.000 0.000 0.083 0.000 0.083
Robot joints variables
0.000
0.000
Robot Inertia matrix
3.000 0.833
0.833 0.333
Feedback gain matrix K
25.000 0.000 7.071 0.000
0.000 25.000 0.000 7.071
time q1 q2 qp1 qp2
0.000 0.000 0.000 0.000 0.000
0.054 -0.010 0.075 -0.095 1.721
0.105 -0.006 0.158 0.278 1.560
0.168 0.025 0.249 0.677 1.359
0.218 0.066 0.314 0.941 1.223
0.268 0.119 0.373 1.155 1.105
0.320 0.183 0.428 1.323 0.998
0.375 0.259 0.480 1.445 0.901
0.434 0.347 0.530 1.518 0.809
0.500 0.448 0.580 1.533 0.720
0.578 0.566 0.633 1.474 0.629
0.673 0.698 0.688 1.313 0.530
0.756 0.800 0.729 1.114 0.449
0.830 0.875 0.759 0.911 0.377
0.897 0.929 0.782 0.720 0.313
0.959 0.969 0.800 0.541 0.253
1.019 0.996 0.813 0.377 0.197
1.076 1.013 0.823 0.228 0.144
1.131 1.022 0.829 0.097 0.097
1.184 1.024 0.833 -0.017 0.055
1.235 1.021 0.835 -0.112 0.019
1.299 1.010 0.835 -0.213 -0.020
1.370 0.992 0.833 -0.299 -0.054
1.429 0.973 0.829 -0.351 -0.075
1.497 0.947 0.823 -0.390 -0.092
1.578 0.915 0.815 -0.411 -0.102
1.677 0.874 0.805 -0.403 -0.102
1.733 0.852 0.799 -0.386 -0.098
1.786 0.832 0.794 -0.363 -0.092
1.881 0.800 0.786 -0.309 -0.077
1.964 0.777 0.780 -0.253 -0.062
2.040 0.760 0.776 -0.199 -0.048
2.113 0.747 0.773 -0.148 -0.034
2.181 0.739 0.771 -0.102 -0.023
2.247 0.733 0.770 -0.061 -0.012
2.308 0.731 0.770 -0.026 -0.003
2.359 0.730 0.770 0.000 0.003
2.438 0.731 0.770 0.034 0.011
2.503 0.734 0.771 0.057 0.017
2.579 0.739 0.773 0.076 0.022
2.666 0.747 0.775 0.090 0.025
2.771 0.757 0.777 0.097 0.026
2.833 0.763 0.779 0.096 0.026
2.902 0.769 0.781 0.092 0.025
2.976 0.776 0.783 0.084 0.023
3.045 0.781 0.784 0.075 0.020
3.107 0.786 0.785 0.065 0.018
3.165 0.789 0.786 0.056 0.015
3.219 0.792 0.787 0.047 0.013
3.270 0.794 0.788 0.038 0.011
3.368 0.797 0.788 0.022 0.006
3.460 0.798 0.789 0.009 0.003
3.545 0.799 0.789 -0.001 -0.000
3.618 0.798 0.789 -0.009 -0.002
3.704 0.797 0.789 -0.015 -0.004
3.808 0.795 0.788 -0.021 -0.005
3.869 0.794 0.788 -0.022 -0.006
3.937 0.792 0.787 -0.023 -0.006
4.000 0.791 0.787 -0.023 -0.006
Press Enter to continue...
Press Enter to continue...
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Robot RP dynamics
=====================================================
Robot D-H parameters
type theta d a alpha
0.000 0.000 0.000 0.000 -1.571
1.000 0.000 0.000 0.000 0.000
Robot D-H inertial parameters
mass cx cy cz Ixx Ixy Ixz Iyy Iyz Izz
2.000 0.000 0.000 0.000 1.000 0.000 0.000 1.000 0.000 1.000
1.000 0.000 0.000 -1.000 0.083 0.000 0.000 0.083 0.000 0.083
Robot joints variables
0.000
0.000
Robot Inertia matrix
2.083 0.000
0.000 1.000
=====================================================
Robot PUMA560 dynamics
=====================================================
Robot D-H parameters
type theta d a alpha
0.000 0.000 0.000 0.000 1.571
0.000 0.000 0.000 0.432 0.000
0.000 0.000 0.150 0.020 -1.571
0.000 0.000 0.432 0.000 1.571
0.000 0.000 0.000 0.000 -1.571
0.000 0.000 0.000 0.000 0.000
Robot D-H inertial parameters
mass cx cy cz Ixx Ixy Ixz Iyy Iyz Izz
0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.350 0.000 0.000
17.400 -0.364 0.006 0.228 0.130 0.000 0.000 0.524 0.000 0.539
4.800 -0.020 -0.014 0.070 0.066 0.000 0.000 0.086 0.000 0.013
0.820 0.000 0.019 0.000 0.002 0.000 0.000 0.001 0.000 0.002
0.340 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000
0.090 0.000 0.000 0.032 0.000 0.000 0.000 0.000 0.000 0.000
Robot joints variables
0.000
0.000
0.000
0.000
0.000
0.000
Robot Inertia matrix
3.1771 -0.1627 -0.1389 0.0016 -0.0004 0.0000
-0.1627 2.1318 0.3727 0.0000 0.0019 0.0000
-0.1389 0.3727 0.3618 0.0000 0.0019 0.0000
0.0016 0.0000 0.0000 0.0016 0.0000 0.0000
-0.0004 0.0019 0.0019 0.0000 0.0006 0.0000
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000
Robot Torque
-0.0000
37.4837
0.2489
0.0000
0.0000
0.0000
Robot acceleration
-0.1640
-21.3015
21.1946
0.1640
0.2037
-0.0000
=====================================================
Robot STANFORD dynamics
=====================================================
Robot D-H parameters
type theta d a alpha
0.000 0.000 0.412 0.000 -1.571
0.000 0.000 0.154 0.000 1.571
1.000 -1.571 0.000 0.000 0.000
0.000 0.000 0.000 0.000 -1.571
0.000 0.000 0.000 0.000 1.571
0.000 0.000 0.263 0.000 0.000
Robot D-H inertial parameters
mass cx cy cz Ixx Ixy Ixz Iyy Iyz Izz
9.290 0.000 0.018 -0.111 0.276 0.000 0.000 0.255 0.000 0.071
5.010 0.000 -1.054 0.000 0.108 0.000 0.000 0.018 0.000 0.100
4.250 0.000 0.000 -6.447 2.510 0.000 0.000 2.510 0.000 0.006
1.080 0.000 0.092 -0.054 0.002 0.000 0.000 0.001 0.000 0.001
0.630 0.000 0.000 0.566 0.003 0.000 0.000 0.003 0.000 0.000
0.510 0.000 0.000 1.554 0.013 0.000 0.000 0.013 0.000 0.000
Robot joints variables
0.000
0.000
0.000
0.000
0.000
0.000
Robot Inertia matrix
4.691 4.037 0.000 0.005 -0.000 0.000
4.037 181.090 0.058 -0.000 0.000 0.000
0.000 0.058 6.470 0.000 0.000 0.000
0.005 -0.000 0.000 0.005 0.000 0.000
-0.000 0.000 0.000 0.000 1.902 0.000
0.000 0.000 0.000 0.000 0.000 0.000
=====================================================
Robot PUMA560 with motors dynamics
=====================================================
Robot D-H parameters
type theta d a alpha
0.000 0.000 0.000 0.000 1.571
0.000 0.000 0.000 0.432 0.000
0.000 0.000 0.150 0.020 -1.571
0.000 0.000 0.432 0.000 1.571
0.000 0.000 0.000 0.000 -1.571
0.000 0.000 0.000 0.000 0.000
Robot D-H inertial parameters
mass cx cy cz Ixx Ixy Ixz Iyy Iyz Izz
0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.350 0.000 0.000
17.400 -0.364 0.006 0.228 0.130 0.000 0.000 0.524 0.000 0.539
4.800 -0.020 -0.014 0.070 0.066 0.000 0.000 0.086 0.000 0.013
0.820 0.000 0.019 0.000 0.002 0.000 0.000 0.001 0.000 0.002
0.340 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000
0.090 0.000 0.000 0.032 0.000 0.000 0.000 0.000 0.000 0.000
Robot motors inertia, gear ratio, viscous and Coulomb friction coefficients
Im Gr B Cf
0.000 -62.611 0.001 0.415
0.000 107.815 0.001 0.099
0.000 -53.706 0.001 0.118
0.000 76.036 0.000 0.014
0.000 71.923 0.000 0.012
0.000 76.686 0.000 0.007
Robot joints variables
0.000
0.000
0.000
0.000
0.000
0.000
Robot Inertia matrix
3.9611 -0.1627 -0.1389 0.0016 -0.0004 0.0000
-0.1627 4.4566 0.3727 0.0000 0.0019 0.0000
-0.1389 0.3727 0.9387 0.0000 0.0019 0.0000
0.0016 0.0000 0.0000 0.1924 0.0000 0.0000
-0.0004 0.0019 0.0019 0.0000 0.1713 0.0000
0.0000 0.0000 0.0000 0.0000 0.0000 0.1941
Robot Torque
25.9836
26.8639
6.6131
-1.0683
-0.8544
-0.5544
Robot acceleration
-7.0027
-5.8015
-5.7882
5.6108
5.0965
2.8567
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