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2.12 The Impedance class

The Impedance class deals with the impedance controller [16]. This class should be use with the class Resolve_acc. Resolve_acc will make sure the end effector follow the compliant trajectory generated by Impedance. The end effector impedance is defined in terms of its translational and rotational part [16].

Constructor

Syntax
Impedance();  
Impedance(const Robot_basic & robot, const DiagonalMatrix & Mp,  
          const DiagonalMatrix & Dp, const DiagonalMatrix & Kp,  
          const Matrix & Km,         const DiagonalMatrix & Mo,  
          const DiagonalMatrix & Do, const DiagonalMatrix & Ko);  
Impedance(const Impedance & x);  
Impedance & operator=(const Impedance & x);

Description

Impedance object constructor, copy constructor and equal operator.

Return Value

None

control

Syntax
short control(const ColumnVector & pdpp, const ColumnVector & pdp,  
              const ColumnVector & pd, const ColumnVector & wdp,  
              const ColumnVector & wd, const Quaternion & qd,  
              const ColumnVector & f, const ColumnVector & n,  
              const Real dt);

Description

This function generate the compliant trajectory for a desired trajectory.

Return Value

Status, as a short int.

  1. 0 successful
  2. WRONG_SIZE (regarding the input vector)

Mp, Dp, Kp, Mo, Do, Ko

Syntax
short set_Mp(const DiagonalMatrix & Mp);  
short set_Mp(Real MP_i, const short i);  
short set_Dp(const DiagonalMatrix & Dp);  
short set_Dp(Real Dp_i, const short i);  
short set_Kp(const DiagonalMatrix & Kp);  
short set_Kp(Real Kp_i, const short i);  
short set_Mo(const DiagonalMatrix & Mo);  
short set_Mo(Real Mo_i, const short i);  
short set_Do(const DiagonalMatrix & Do);  
short set_Do(Real Do_i, const short i);  
short set_Ko(const DiagonalMatrix & Ko);  
short set_Ko(Real Ko_i, const short i);

Description

These functions sets the translational and rotational impedance parameters.

Return Value

Status, as a short int.

  1. 0 successful
  2. WRONG_SIZE (regarding the input vector)

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