Robot_basic Class Reference

#include <robot.h>

Inheritance diagram for Robot_basic:

mRobot mRobot_min_para Robot List of all members.

Detailed Description

Virtual base robot class.

Definition at line 216 of file robot.h.

Public Member Functions

 Robot_basic (const int ndof=1, const bool dh_parameter=false, const bool min_inertial_para=false)
 Constructor.
 Robot_basic (const Matrix &initrobot_motor, const bool dh_parameter=false, const bool min_inertial_para=false)
 Constructor.
 Robot_basic (const Matrix &initrobot, const Matrix &initmotor, const bool dh_parameter=false, const bool min_inertial_para=false)
 Constructor.
 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.
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.
void set_q (const Matrix &q)
 Set the joint position vector.
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.
void kine (Matrix &Rot, ColumnVector &pos, const int j) const
 Direct kinematics at end effector.
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.
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).
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.
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.
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.
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 $ q $.
ReturnMatrix dtau_dqp (const ColumnVector &q, const ColumnVector &qp)
 Sensitivity of the dynamics with respect to $\dot{q} $.
virtual ReturnMatrix G ()=0
virtual ReturnMatrix C (const ColumnVector &qp)=0
void error (const std::string &msg1) const

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

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 324 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 573 of file robot.cpp.

References a, cleanUpPointers(), da, dF, df, dN, dn, dof, dp, dvp, dw, dwp, F, f, f_nv, fix, GRAVITY, gravity, links, N, n, n_nv, p, pp, R, threebythreeident, vp, w, wp, 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 343 of file robot.cpp.

References a, cleanUpPointers(), da, dF, df, dN, dn, dof, dp, dvp, dw, dwp, F, f, f_nv, fix, GRAVITY, gravity, links, N, n, n_nv, p, pp, R, threebythreeident, vp, w, wp, 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 451 of file robot.cpp.

References a, cleanUpPointers(), da, dF, df, dN, dn, dof, dp, dvp, dw, dwp, F, f, f_nv, fix, GRAVITY, gravity, links, N, n, n_nv, p, pp, R, threebythreeident, vp, w, wp, and z0.

Robot_basic::~Robot_basic (  )  [virtual]

Destructor.

Free all vectors and matrix memory.

Definition at line 879 of file robot.cpp.

References cleanUpPointers().

Member Function Documentation

Real Robot_basic::get_q ( const int  i  )  const [inline]

Definition at line 235 of file robot.h.

Referenced by Clik::Clik(), dynamics_demo(), kinematics_demo(), Dynamics::set_robot_on_first_point_of_splines(), Proportional_Derivative::torque_cmd(), Computed_torque_method::torque_cmd(), and 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 1137 of file robot.cpp.

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

Referenced by mRobot_min_para::delta_torque(), mRobot::delta_torque(), Robot::delta_torque(), mRobot_min_para::dq_torque(), mRobot::dq_torque(), Robot::dq_torque(), mRobot_min_para::dqp_torque(), mRobot::dqp_torque(), Robot::dqp_torque(), dynamics_demo(), Clik::endeff_pos_ori_err(), inertia(), inv_kin(), kinematics_demo(), main(), Clik::q_qdot(), Dynamics::set_robot_on_first_point_of_splines(), mRobot_min_para::torque(), mRobot::torque(), Robot::torque(), 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 1070 of file robot.cpp.

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

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

Definition at line 255 of file robot.h.

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 92 of file kinemat.cpp.

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

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 102 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 142 of file kinemat.cpp.

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 Robot, mRobot, and mRobot_min_para.

Definition at line 91 of file invkine.cpp.

References dof, get_available_dof(), get_available_q(), ITOL, jacobian(), kine(), links, M_PI, NITMAX, and set_q().

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 169 of file kinemat.cpp.

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

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 112 of file dynamics.cpp.

References dof, and inertia().

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 58 of file sensitiv.cpp.

References dof.

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 84 of file sensitiv.cpp.

References dof.

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