Virtual base robot class. More...

#include <robot.h>

Inheritance diagram for Robot_basic:

Public Member Functions
	Robot_basic (const int ndof=1, const bool dh_parameter=false, const bool min_inertial_para=false)
	Constructor. More...

	Robot_basic (const Matrix &initrobot_motor, const bool dh_parameter=false, const bool min_inertial_para=false)
	Constructor. More...

	Robot_basic (const Matrix &initrobot, const Matrix &initmotor, const bool dh_parameter=false, const bool min_inertial_para=false)
	Constructor. More...

	Robot_basic (const std::string &filename, const std::string &robotName, const bool dh_parameter=false, const bool min_inertial_para=false)

	Robot_basic (const Robot_basic &x)
	Copy constructor.

virtual	~Robot_basic ()
	Destructor. More...

Robot_basic &	operator= (const Robot_basic &x)
	Overload = operator.

Real	get_q (const int i) const

bool	get_DH () const
	Return true if in DH notation, false otherwise.

int	get_dof () const
	Return dof.

int	get_available_dof () const
	Counts number of currently non-immobile links.

int	get_available_dof (const int endlink) const
	Counts number of currently non-immobile links up to and including endlink.

int	get_fix () const
	Return fix.

ReturnMatrix	get_q (void) const
	Return the joint position vector.

ReturnMatrix	get_qp (void) const
	Return the joint velocity vector.

ReturnMatrix	get_qpp (void) const
	Return the joint acceleration vector.

ReturnMatrix	get_available_q (void) const
	Return the joint position vector of available (non-immobile) joints.

ReturnMatrix	get_available_qp (void) const
	Return the joint velocity vector of available (non-immobile) joints.

ReturnMatrix	get_available_qpp (void) const
	Return the joint acceleration vector of available (non-immobile) joints.

ReturnMatrix	get_available_q (const int endlink) const
	Return the joint position vector of available (non-immobile) joints up to and including endlink.

ReturnMatrix	get_available_qp (const int endlink) const
	Return the joint velocity vector of available (non-immobile) joints up to and including endlink.

ReturnMatrix	get_available_qpp (const int endlink) const
	Return the joint acceleration vector of available (non-immobile) joints up to and including endlink.

void	set_q (const ColumnVector &q)
	Set the joint position vector. More...

void	set_q (const Matrix &q)
	Set the joint position vector. More...

void	set_q (const Real q, const int i)

void	set_qp (const ColumnVector &qp)
	Set the joint velocity vector.

void	set_qpp (const ColumnVector &qpp)
	Set the joint acceleration vector.

void	kine (Matrix &Rot, ColumnVector &pos) const
	Direct kinematics at end effector. More...

void	kine (Matrix &Rot, ColumnVector &pos, const int j) const
	Direct kinematics at end effector. More...

ReturnMatrix	kine (void) const
	Return the end effector direct kinematics transform matrix.

ReturnMatrix	kine (const int j) const
	Return the frame j direct kinematics transform matrix.

ReturnMatrix	kine_pd (const int ref=0) const
	Direct kinematics with velocity. More...

virtual void	kine_pd (Matrix &Rot, ColumnVector &pos, ColumnVector &pos_dot, const int ref) const =0

virtual void	robotType_inv_kin ()=0

virtual ReturnMatrix	inv_kin (const Matrix &Tobj, const int mj=0)
	Numerical inverse kinematics. See inv_kin(const Matrix & Tobj, const int mj, const int endlink, bool & converge) More...

ReturnMatrix	inv_kin (const Matrix &Tobj, const int mj, bool &converge)

virtual ReturnMatrix	inv_kin (const Matrix &Tobj, const int mj, const int endlink, bool &converge)
	Numerical inverse kinematics. More...

virtual ReturnMatrix	inv_kin_rhino (const Matrix &Tobj, bool &converge)=0

virtual ReturnMatrix	inv_kin_puma (const Matrix &Tobj, bool &converge)=0

virtual ReturnMatrix	inv_kin_schilling (const Matrix &Tobj, bool &converge)=0

virtual ReturnMatrix	jacobian (const int ref=0) const
	Jacobian of mobile links expressed at frame ref.

virtual ReturnMatrix	jacobian (const int endlink, const int ref) const =0

virtual ReturnMatrix	jacobian_dot (const int ref=0) const =0

ReturnMatrix	jacobian_DLS_inv (const double eps, const double lambda_max, const int ref=0) const
	Inverse Jacobian based on damped least squares inverse. More...

virtual void	dTdqi (Matrix &dRot, ColumnVector &dp, const int i)=0

virtual ReturnMatrix	dTdqi (const int i)=0

ReturnMatrix	acceleration (const ColumnVector &q, const ColumnVector &qp, const ColumnVector &tau)
	Joints acceleration without contact force.

ReturnMatrix	acceleration (const ColumnVector &q, const ColumnVector &qp, const ColumnVector &tau, const ColumnVector &Fext, const ColumnVector &Next)
	Joints acceleration. More...

ReturnMatrix	inertia (const ColumnVector &q)
	Inertia of the manipulator.

virtual ReturnMatrix	torque_novelocity (const ColumnVector &qpp)=0

virtual ReturnMatrix	torque (const ColumnVector &q, const ColumnVector &qp, const ColumnVector &qpp)=0

virtual ReturnMatrix	torque (const ColumnVector &q, const ColumnVector &qp, const ColumnVector &qpp, const ColumnVector &Fext_, const ColumnVector &Next_)=0

virtual void	delta_torque (const ColumnVector &q, const ColumnVector &qp, const ColumnVector &qpp, const ColumnVector &dq, const ColumnVector &dqp, const ColumnVector &dqpp, ColumnVector &torque, ColumnVector &dtorque)=0

virtual void	dq_torque (const ColumnVector &q, const ColumnVector &qp, const ColumnVector &qpp, const ColumnVector &dq, ColumnVector &torque, ColumnVector &dtorque)=0

virtual void	dqp_torque (const ColumnVector &q, const ColumnVector &qp, const ColumnVector &dqp, ColumnVector &torque, ColumnVector &dtorque)=0

ReturnMatrix	dtau_dq (const ColumnVector &q, const ColumnVector &qp, const ColumnVector &qpp)
	Sensitivity of the dynamics with respect to . More...

ReturnMatrix	dtau_dqp (const ColumnVector &q, const ColumnVector &qp)
	Sensitivity of the dynamics with respect to $\dot{q}$ . More...

virtual ReturnMatrix	G ()=0

virtual ReturnMatrix	C (const ColumnVector &qp)=0

void	error (const std::string &msg1) const
	Print the message msg1 on the console.

Public Attributes
ColumnVector *	w

ColumnVector *	wp

ColumnVector *	vp

ColumnVector *	a

ColumnVector *	f

ColumnVector *	f_nv

ColumnVector *	n

ColumnVector *	n_nv

ColumnVector *	F

ColumnVector *	N

ColumnVector *	p

ColumnVector *	pp

ColumnVector *	dw

ColumnVector *	dwp

ColumnVector *	dvp

ColumnVector *	da

ColumnVector *	df

ColumnVector *	dn

ColumnVector *	dF

ColumnVector *	dN

ColumnVector *	dp

ColumnVector	z0
	Axis vector at each joint.

ColumnVector	gravity
	Gravity vector.

Matrix *	R
	Temprary rotation matrix.

Link *	links
	Pointer on Link cclass.

Private Types
enum	EnumRobotType { DEFAULT = 0, RHINO = 1, PUMA = 2, SCHILLING = 3 }
	enum EnumRobotType More...

Private Member Functions
void	cleanUpPointers ()
	Free all vectors and matrix memory.

Private Attributes
EnumRobotType	robotType
	Robot type.

int	dof
	Degree of freedom.

int	fix
	Virtual link, used with modified DH notation.

Friends
class	Robot

class	mRobot

class	mRobot_min_para

class	Robotgl

class	mRobotgl

Detailed Description

Virtual base robot class.

Definition at line 212 of file robot.h.

Member Enumeration Documentation

enum Robot_basic::EnumRobotType

private

enum EnumRobotType

Enumerator
DEFAULT	Default robot familly.
RHINO	Rhino familly.
PUMA	Puma familly.
SCHILLING	Schilling familly.

Definition at line 320 of file robot.h.

Constructor & Destructor Documentation

Robot_basic::Robot_basic	(	const int	ndof = `1`,
		const bool	dh_parameter = `false`,
		const bool	min_inertial_para = `false`
	)

Constructor.

Parameters

ndof,:	Robot degree of freedom.
dh_parameter,:	true if DH notation, false if modified DH notation.
min_inertial_para,:	true inertial parameter are in minimal form.

Allocate memory for vectors and matrix pointers. Initialize all the Links instance.

Definition at line 569 of file robot.cpp.

References cleanUpPointers(), dof, fix, gravity, links, R, threebythreeident, and z0.

Robot_basic::Robot_basic	(	const Matrix &	dhinit,
		const bool	dh_parameter = `false`,
		const bool	min_inertial_para = `false`
	)

Constructor.

Parameters

dhinit,:	Robot initialization matrix.
dh_parameter,:	true if DH notation, false if modified DH notation.
min_inertial_para,:	true inertial parameter are in minimal form.

Allocate memory for vectors and matrix pointers. Initialize all the Links instance.

Definition at line 339 of file robot.cpp.

References cleanUpPointers(), dof, error(), fix, gravity, links, R, threebythreeident, and z0.

Robot_basic::Robot_basic	(	const Matrix &	initrobot,
		const Matrix &	initmotor,
		const bool	dh_parameter = `false`,
		const bool	min_inertial_para = `false`
	)

Constructor.

Parameters

initrobot,:	Robot initialization matrix.
initmotor,:	Motor initialization matrix.
dh_parameter,:	true if DH notation, false if modified DH notation.
min_inertial_para,:	true inertial parameter are in minimal form.

Allocate memory for vectors and matrix pointers. Initialize all the Links instance.

Definition at line 447 of file robot.cpp.

References cleanUpPointers(), dof, error(), fix, gravity, links, R, threebythreeident, and z0.

Robot_basic::~Robot_basic ( )

virtual

Destructor.

Free all vectors and matrix memory.

Definition at line 875 of file robot.cpp.

References cleanUpPointers().

Member Function Documentation

ReturnMatrix Robot_basic::acceleration	(	const ColumnVector &	q,
		const ColumnVector &	qp,
		const ColumnVector &	tau_cmd,
		const ColumnVector &	Fext,
		const ColumnVector &	Next
	)

Joints acceleration.

The robot dynamics is

$B(q)\ddot{q} + C(q,\dot{q})\dot{q} + D\dot{q} + g(q) = \tau - J^T(q)f$

then the joint acceleration is

$\ddot{q} = B^{-1}(q)\big(\tau - J^T(q)f - C(q,\dot{q})\dot{q} - D\dot{q} - g(q)\big )$

Definition at line 108 of file dynamics.cpp.

ReturnMatrix Robot_basic::dtau_dq	(	const ColumnVector &	q,
		const ColumnVector &	qp,
		const ColumnVector &	qpp
	)

Sensitivity of the dynamics with respect to $ q $ .

This function computes $S_2(q, \dot{q}, \ddot{q})$ .

Definition at line 54 of file sensitiv.cpp.

ReturnMatrix Robot_basic::dtau_dqp	(	const ColumnVector &	q,
		const ColumnVector &	qp
	)

Sensitivity of the dynamics with respect to $\dot{q}$ .

This function computes $S_1(q, \dot{q})$ .

Definition at line 80 of file sensitiv.cpp.

Real Robot_basic::get_q ( const int i ) const

inline

< Return joint i position.

Definition at line 231 of file robot.h.

Referenced by Clik::Clik(), Dynamics::set_robot_on_first_point_of_splines(), Resolved_acc::torque_cmd(), Computed_torque_method::torque_cmd(), and Proportional_Derivative::torque_cmd().

ReturnMatrix Robot_basic::inv_kin	(	const Matrix &	Tobj,
		const int	mj = `0`
	)

virtual

Numerical inverse kinematics. See inv_kin(const Matrix & Tobj, const int mj, const int endlink, bool & converge)

Overload inv_kin function.

Reimplemented in mRobot_min_para, mRobot, and Robot.

Definition at line 79 of file invkine.cpp.

Referenced by Robot::inv_kin(), mRobot::inv_kin(), mRobot_min_para::inv_kin(), and Dynamics::set_robot_on_first_point_of_splines().

ReturnMatrix Robot_basic::inv_kin	(	const Matrix &	Tobj,
		const int	mj,
		const int	endlink,
		bool &	converge
	)

virtual

Numerical inverse kinematics.

Parameters

Tobj,:	Transformation matrix expressing the desired end effector pose.
mj,:	Select algorithm type, 0: based on Jacobian, 1: based on derivative of T.
converge,:	Indicate if the algorithm converge.
endlink,:	the link to pretend is the end effector

The joint position vector before the inverse kinematics is returned if the algorithm does not converge.

Reimplemented in mRobot_min_para, mRobot, and Robot.

Definition at line 87 of file invkine.cpp.

References ITOL, and NITMAX.

ReturnMatrix Robot_basic::jacobian_DLS_inv	(	const double	eps,
		const double	lambda_max,
		const int	ref = `0`
	)		const

Inverse Jacobian based on damped least squares inverse.

Parameters

eps,:	Range of singular region.
lambda_max,:	Value to obtain a good solution in singular region.
ref,:	Selected frame (ex: joint 4).

The Jacobian inverse, based on damped least squares, is

$J^{-1}(q) = \big(J^T(q)J(q) + \lambda^2I \big)^{-1}J^T(q)$

where $\lambda$ and $I$ is a damping factor and the identity matrix respectively. Based on SVD (Singular Value Decomposition) the Jacobian is $J = \sum_{i=1}^{m}\sigma_i u_i v_i^T$ , where $u_i$ , $v_i$ and $\sigma_i$ are respectively the input vector, the ouput vector and the singular values ( $\sigma_1 \geq \sigma_2 \cdots \geq \sigma_r \geq 0$ , $r$ is the rank of J). Using the previous equations we obtain

$J^{-1}(q) = \sum_{i=1}^{m} \frac{\sigma_i}{\sigma_i^2 + \lambda_i^2}v_iu_i$

A singular region, based on the smallest singular value, can be defined by

$\lambda^2 = \Bigg\{ \begin{array}{cc} 0 & \textrm{si $\sigma_6 \geq \epsilon$} \\ \Big(1 - (\frac{\sigma_6}{\epsilon})^2 \Big)\lambda^2_{max} & \textrm{sinon} \end{array}$

Definition at line 165 of file kinemat.cpp.

Referenced by Clik::q_qdot(), and Resolved_acc::torque_cmd().

void Robot_basic::kine	(	Matrix &	Rot,
		ColumnVector &	pos
	)		const

Direct kinematics at end effector.

Parameters

Rot,:	End effector orientation.
pos,:	Enf effector position.

Definition at line 88 of file kinemat.cpp.

Referenced by Clik::endeff_pos_ori_err(), and Impedance::Impedance().

void Robot_basic::kine	(	Matrix &	Rot,
		ColumnVector &	pos,
		const int	j
	)		const

Direct kinematics at end effector.

Parameters

Rot,:	Frame j orientation.
pos,:	Frame j position.
j,:	Selected frame.

Definition at line 98 of file kinemat.cpp.

ReturnMatrix Robot_basic::kine_pd ( const int j = 0 ) const

Direct kinematics with velocity.

Return a $3\times 5$ matrix. The first three columns are the frame j to the base rotation, the fourth column is the frame j w.r.t to the base postion vector and the last column is the frame j w.r.t to the base translational velocity vector. Print an error on the console if j is out of range.

Definition at line 138 of file kinemat.cpp.

Referenced by Resolved_acc::torque_cmd().

void Robot_basic::set_q ( const ColumnVector & q )

Set the joint position vector.

Set the joint position vector and recalculate the orientation matrix R and the position vector p (see Link class). Print an error if the size of q is incorrect.

Definition at line 1133 of file robot.cpp.

References dof, error(), get_available_dof(), links, Link::p, Link::R, and Link::transform().

Referenced by Clik::endeff_pos_ori_err(), Clik::q_qdot(), Dynamics::set_robot_on_first_point_of_splines(), and Dynamics::xdot().

void Robot_basic::set_q ( const Matrix & q )

Set the joint position vector.

Set the joint position vector and recalculate the orientation matrix R and the position vector p (see Link class). Print an error if the size of q is incorrect.

Definition at line 1066 of file robot.cpp.

References dof, error(), get_available_dof(), links, Link::p, Link::R, and Link::transform().

void Robot_basic::set_q	(	const Real	q,
		const int	i
	)

inline

< Set joint i position.

Definition at line 251 of file robot.h.

Public Member Functions

Public Attributes

Private Types

Private Member Functions

Private Attributes

Friends

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation