ROBOOP::Resolved_acc Class Reference
#include <controller.h>
Detailed Description
Resolved rate acceleration controller class.The dynamic model of a robot manipulator can be expressed in joint space as
![\[ B(q)\ddot{q} + C(q,\dot{q})\dot{q} + D\dot{q} + g(q) = \tau - J^T(q)f \]](form_37.png)
According to the concept of inverse dynamics, the driving torques can be chosen as
![\[ \tau = B(q)J^{-1}(q)\big(a - \dot{J}(q,\dot{q})\dot{q}\big) + C(q,\dot{q})\dot{q} + D\dot{q} + g(q) - J^T(q)f \]](form_38.png)
where 
is the a new control input defined by
![\[ a_p = \ddot{p}_d + k_{vp}\dot{\tilde{p}} + k_{pp}\tilde{p} \]](form_40.png)
![\[ a_o = \dot{\omega}_d + k_{vo}\dot{\tilde{\omega}} + k_{po}\tilde{v} \]](form_41.png)
where 
and 
is the vector par of the quaternion representing the orientation error between the desired and end effector frame. 
, 
, 
and 
are positive gains.
Up to now this class has been tested only with a 6 dof robot.
Definition at line 164 of file controller.h.
Public Member Functions | |
| Resolved_acc (const short dof=1) | |
| Constructor. | |
| Resolved_acc (const Robot_basic &robot, const Real Kvp, const Real Kpp, const Real Kvo, const Real Kpo) | |
| Constructor. | |
| Resolved_acc (const Resolved_acc &x) | |
| Copy constructor. | |
| Resolved_acc & | operator= (const Resolved_acc &x) |
| Overload = operator. | |
| void | set_Kvp (const Real Kvp) |
| Assign the gain . | |
| void | set_Kpp (const Real Kpp) |
| Assign the gain . | |
| void | set_Kvo (const Real Kvo) |
| Assign the gain . | |
| void | set_Kpo (const Real Kpo) |
| Assign the gain . | |
| ReturnMatrix | torque_cmd (Robot_basic &robot, const ColumnVector &pdpp, const ColumnVector &pdp, const ColumnVector &pd, const ColumnVector &wdp, const ColumnVector &wd, const Quaternion &qd, const short link_pc, const Real dt) |
| Output torque. | |
Private Attributes | |
| double | Kvp |
| Controller gains. | |
| double | Kpp |
| Controller gains. | |
| double | Kvo |
| Controller gains. | |
| double | Kpo |
| Controller gains. | |
| Matrix | Rot |
| Temporay rotation matrix. | |
| ColumnVector | zero3 |
 zero vector. | |
| ColumnVector | qp |
| Robot joints velocity. | |
| ColumnVector | qpp |
| Robot joints acceleration. | |
| ColumnVector | a |
| Control input. | |
| ColumnVector | p |
| End effector position. | |
| ColumnVector | pp |
| End effector velocity. | |
| ColumnVector | quat_v_error |
| Vector part of error quaternion. | |
| Quaternion | quat |
| Temporary quaternion. | |
Constructor & Destructor Documentation
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Constructor.
Definition at line 444 of file controller.cpp. |
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Constructor.
Definition at line 463 of file controller.cpp. |
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Copy constructor.
Definition at line 484 of file controller.cpp. |
Member Function Documentation
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Overload = operator.
Definition at line 501 of file controller.cpp. |
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Assign the gain
Definition at line 538 of file controller.cpp. Referenced by Resolved_acc(), and ROBOOP::Control_Select::set_control(). |
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Assign the gain
Definition at line 526 of file controller.cpp. Referenced by Resolved_acc(), and ROBOOP::Control_Select::set_control(). |
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Assign the gain
Definition at line 532 of file controller.cpp. Referenced by Resolved_acc(), and ROBOOP::Control_Select::set_control(). |
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Assign the gain
Definition at line 520 of file controller.cpp. Referenced by Resolved_acc(), and ROBOOP::Control_Select::set_control(). |
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Output torque. For more robustess the damped least squares inverse Jacobian is used instead of the inverse Jacobian. The quaternion -q represents exactly the same rotation as the quaternion q. The temporay quaternion, quat, is quatd plus a sign correction. It is customary to choose the sign G on q1 so that q0.Gq1 >=0 (the angle between q0 ang Gq1 is acute). This choice avoids extra spinning caused by the interpolated rotations. Definition at line 544 of file controller.cpp. Referenced by ROBOOP::Dynamics::xdot(). |
Member Data Documentation
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Control input.
Definition at line 189 of file controller.h. Referenced by operator=(), Resolved_acc(), and torque_cmd(). |
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Controller gains.
Definition at line 184 of file controller.h. Referenced by operator=(), Resolved_acc(), set_Kpo(), and torque_cmd(). |
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Controller gains.
Definition at line 184 of file controller.h. Referenced by operator=(), Resolved_acc(), set_Kpp(), and torque_cmd(). |
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Controller gains.
Definition at line 184 of file controller.h. Referenced by operator=(), Resolved_acc(), set_Kvo(), and torque_cmd(). |
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Controller gains.
Definition at line 184 of file controller.h. Referenced by operator=(), Resolved_acc(), set_Kvp(), and torque_cmd(). |
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End effector position.
Definition at line 189 of file controller.h. Referenced by operator=(), Resolved_acc(), and torque_cmd(). |
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End effector velocity.
Definition at line 189 of file controller.h. Referenced by operator=(), Resolved_acc(), and torque_cmd(). |
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Robot joints velocity.
Definition at line 189 of file controller.h. Referenced by operator=(), Resolved_acc(), and torque_cmd(). |
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Robot joints acceleration.
Definition at line 189 of file controller.h. Referenced by operator=(), Resolved_acc(), and torque_cmd(). |
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Temporary quaternion.
Definition at line 195 of file controller.h. Referenced by operator=(), Resolved_acc(), and torque_cmd(). |
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Vector part of error quaternion.
Definition at line 189 of file controller.h. Referenced by operator=(), Resolved_acc(), and torque_cmd(). |
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Temporay rotation matrix.
Definition at line 187 of file controller.h. Referenced by torque_cmd(). |
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Definition at line 189 of file controller.h. Referenced by operator=(), Resolved_acc(), and torque_cmd(). |
The documentation for this class was generated from the following files:
