Modified DH notation and minimal inertial parameters robot class. More...

#include <robot.h>

Inheritance diagram for mRobot_min_para:

Public Member Functions
	mRobot_min_para (const int ndof=1)
	Constructor.

	mRobot_min_para (const Matrix &dhinit)
	Constructor.

	mRobot_min_para (const Matrix &initrobot, const Matrix &initmotor)
	Constructor.

	mRobot_min_para (const mRobot_min_para &x)
	Copy constructor.

	mRobot_min_para (const std::string &filename, const std::string &robotName)

virtual	~mRobot_min_para ()
	Destructor.

virtual void	robotType_inv_kin ()
	Identify inverse kinematics familly. More...

ReturnMatrix	inv_kin (const Matrix &Tobj, const int mj=0)
	Overload inv_kin function.

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

virtual ReturnMatrix	inv_kin_rhino (const Matrix &Tobj, bool &converge)
	Analytic Rhino inverse kinematics. More...

virtual ReturnMatrix	inv_kin_puma (const Matrix &Tobj, bool &converge)
	Analytic Puma inverse kinematics. More...

virtual ReturnMatrix	inv_kin_schilling (const Matrix &Tobj, bool &converge)
	Analytic Schilling inverse kinematics. More...

virtual void	kine_pd (Matrix &Rot, ColumnVector &pos, ColumnVector &pos_dot, const int ref=0) const
	Direct kinematics with velocity. More...

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
	Jacobian of mobile joints up to endlink expressed at frame ref. More...

virtual ReturnMatrix	jacobian_dot (const int ref=0) const
	Jacobian derivative of mobile joints expressed at frame ref. More...

virtual void	dTdqi (Matrix &dRot, ColumnVector &dp, const int i)
	Partial derivative of the robot position (homogeneous transf.) More...

virtual ReturnMatrix	dTdqi (const int i)
	Partial derivative of the robot position (homogeneous transf.) More...

virtual ReturnMatrix	torque (const ColumnVector &q, const ColumnVector &qp, const ColumnVector &qpp)
	Joint torque without contact force based on Recursive Newton-Euler formulation.

virtual ReturnMatrix	torque (const ColumnVector &q, const ColumnVector &qp, const ColumnVector &qpp, const ColumnVector &Fext_, const ColumnVector &Next_)
	Joint torque based on Recursive Newton-Euler formulation. More...

virtual ReturnMatrix	torque_novelocity (const ColumnVector &qpp)
	Joint torque. when joint velocity is 0, based on Recursive Newton-Euler formulation.

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)
	Delta torque dynamics. More...

virtual void	dq_torque (const ColumnVector &q, const ColumnVector &qp, const ColumnVector &qpp, const ColumnVector &dq, ColumnVector &torque, ColumnVector &dtorque)
	Delta torque due to delta joint position. More...

virtual void	dqp_torque (const ColumnVector &q, const ColumnVector &qp, const ColumnVector &dqp, ColumnVector &torque, ColumnVector &dtorque)
	Delta torque due to delta joint velocity. More...

virtual ReturnMatrix	G ()
	Joint torque due to gravity based on Recursive Newton-Euler formulation.

virtual ReturnMatrix	C (const ColumnVector &qp)
	Joint torque due to centrifugal and Corriolis based on Recursive Newton-Euler formulation.

Public Member Functions inherited from Robot_basic
	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...

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

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...

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.

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...

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

Additional Inherited Members
Public Attributes inherited from Robot_basic
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.

Detailed Description

Modified DH notation and minimal inertial parameters robot class.

Definition at line 433 of file robot.h.

Member Function Documentation

void mRobot_min_para::delta_torque	(	const ColumnVector &	q,
		const ColumnVector &	qp,
		const ColumnVector &	qpp,
		const ColumnVector &	dq,
		const ColumnVector &	dqp,
		const ColumnVector &	dqpp,
		ColumnVector &	ltorque,
		ColumnVector &	dtorque
	)

virtual

Delta torque dynamics.

See mRobot::delta_torque for equations.

Implements Robot_basic.

Definition at line 507 of file delta_t.cpp.

void mRobot_min_para::dq_torque	(	const ColumnVector &	q,
		const ColumnVector &	qp,
		const ColumnVector &	qpp,
		const ColumnVector &	dq,
		ColumnVector &	ltorque,
		ColumnVector &	dtorque
	)

virtual

Delta torque due to delta joint position.

This function computes $S_2(q, \dot{q}, \ddot{q})\delta q$ . See mRobot::delta_torque for equations.

Implements Robot_basic.

Definition at line 331 of file comp_dq.cpp.

void mRobot_min_para::dqp_torque	(	const ColumnVector &	q,
		const ColumnVector &	qp,
		const ColumnVector &	dqp,
		ColumnVector &	ltorque,
		ColumnVector &	dtorque
	)

virtual

Delta torque due to delta joint velocity.

This function computes $S_1(q, \dot{q}, \ddot{q})\delta \dot{q}$ . See mRobot::delta_torque for equations.

Implements Robot_basic.

Definition at line 299 of file comp_dqp.cpp.

void mRobot_min_para::dTdqi	(	Matrix &	dRot,
		ColumnVector &	dp,
		const int	i
	)

virtual

Partial derivative of the robot position (homogeneous transf.)

This function computes the partial derivatives:

$\frac{\partial{}^0 T_n}{\partial q_i} = {}^0 T_{i} Q_i \; {}^{i} T_n$

See mRobot::dTdqi(Matrix & dRot, ColumnVector & dp, const int i) for equations.

Implements Robot_basic.

Definition at line 825 of file kinemat.cpp.

References threebythreeident.

ReturnMatrix mRobot_min_para::dTdqi ( const int i )

virtual

Partial derivative of the robot position (homogeneous transf.)

See mRobot::dTdqi(Matrix & dRot, ColumnVector & dp, const int i) for equations.

Implements Robot_basic.

Definition at line 883 of file kinemat.cpp.

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

virtual

Inverse kinematics solutions.

The solution is based on the analytic inverse kinematics if robot type (familly) is Rhino or Puma, otherwise used the numerical algoritm defined in Robot_basic class.

Reimplemented from Robot_basic.

Definition at line 1007 of file invkine.cpp.

References Robot_basic::inv_kin().

ReturnMatrix mRobot_min_para::inv_kin_puma	(	const Matrix &	Tobj,
		bool &	converge
	)

virtual

Analytic Puma inverse kinematics.

converge will be false if the desired end effector pose is outside robot range.

Implements Robot_basic.

Definition at line 1126 of file invkine.cpp.

ReturnMatrix mRobot_min_para::inv_kin_rhino	(	const Matrix &	Tobj,
		bool &	converge
	)

virtual

Analytic Rhino inverse kinematics.

converge will be false if the desired end effector pose is outside robot range.

Implements Robot_basic.

Definition at line 1029 of file invkine.cpp.

ReturnMatrix mRobot_min_para::inv_kin_schilling	(	const Matrix &	Tobj,
		bool &	converge
	)

virtual

Analytic Schilling inverse kinematics.

converge will be false if the desired end effector pose is outside robot range.

Implements Robot_basic.

Definition at line 1287 of file invkine.cpp.

ReturnMatrix mRobot_min_para::jacobian	(	const int	endlink,
		const int	ref
	)		const

virtual

Jacobian of mobile joints up to endlink expressed at frame ref.

See Robot::jacobian for equations.

Implements Robot_basic.

Definition at line 901 of file kinemat.cpp.

ReturnMatrix mRobot_min_para::jacobian_dot ( const int ref = 0 ) const

virtual

Jacobian derivative of mobile joints expressed at frame ref.

See Robot::jacobian_dot for equations.

Implements Robot_basic.

Definition at line 957 of file kinemat.cpp.

void mRobot_min_para::kine_pd	(	Matrix &	Rot,
		ColumnVector &	pos,
		ColumnVector &	pos_dot,
		const int	j = `0`
	)		const

virtual

Direct kinematics with velocity.

Parameters

Rot,:	Frame j rotation matrix w.r.t to the base frame.
pos,:	Frame j position vector wr.r.t to the base frame.
pos_dot,:	Frame j velocity vector w.r.t to the base frame.
j,:	Frame j. Print an error on the console if j is out of range.

Implements Robot_basic.

Definition at line 795 of file kinemat.cpp.

void mRobot_min_para::robotType_inv_kin ( )

virtual

Identify inverse kinematics familly.

Identify the inverse kinematics analytic solution based on the similarity of the robot DH parameters and the DH parameters of know robots (ex: Puma, Rhino, ...). The inverse kinematics will be based on a numerical alogorithm if there is no match .

Implements Robot_basic.

Definition at line 1419 of file robot.cpp.

References Robot_basic::DEFAULT, Robot_basic::PUMA, Puma_mDH(), Robot_basic::RHINO, Rhino_mDH(), Robot_basic::robotType, Robot_basic::SCHILLING, and Schilling_mDH().

Referenced by mRobot_min_para().

ReturnMatrix mRobot_min_para::torque	(	const ColumnVector &	q,
		const ColumnVector &	qp,
		const ColumnVector &	qpp,
		const ColumnVector &	Fext_,
		const ColumnVector &	Next_
	)

virtual

Joint torque based on Recursive Newton-Euler formulation.

See ReturnMatrix mRobot::torque(const ColumnVector & q, const ColumnVector & qp, const ColumnVector & qpp, const ColumnVector & Fext, const ColumnVector & Next) for the Recursive Newton-Euler formulation.

Implements Robot_basic.

Definition at line 693 of file dynamics.cpp.

References sign().

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation