ROBOOP::Computed_torque_method Class Reference

#include <controller.h>

Detailed Description

Computer torque method controller class.

The dynamic model of a robot manipulator can be expressed in joint space as

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

The driving torques can be expressed as

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

where $K_p$ , $K_d$ are diagonal positive definie matrix.

Definition at line 213 of file controller.h.

Public Member Functions

Computed_torque_method (const short dof=1)

Constructor.

Computed_torque_method (const Robot_basic &robot, const DiagonalMatrix &Kp, const DiagonalMatrix &Kd)

Constructor.

Computed_torque_method (const Computed_torque_method &x)

Copy constructor.

Computed_torque_method & operator= (const Computed_torque_method &x)

Overload = operator.

ReturnMatrix torque_cmd (Robot_basic &robot, const ColumnVector &qd, const ColumnVector &qpd)

Output torque.

short set_Kd (const DiagonalMatrix &Kd)

Assign the velocity error gain matrix $K_d(i,i)$ .

short set_Kp (const DiagonalMatrix &Kp)

Assign the position error gain matrix $K_p(i,i)$ .

Private Attributes

int dof

Degree of freedom.

ColumnVector q

Robot joints positions.

ColumnVector qp

Robot joints velocity.

ColumnVector qpp

Robot joints acceleration.

ColumnVector zero3

$3\times 1$ zero vector.

DiagonalMatrix Kp

Position error gain.

DiagonalMatrix Kd

Velocity error gain.

Constructor & Destructor Documentation

ROBOOP::Computed_torque_method::Computed_torque_method ( const short dof = 1 )

Constructor.

Definition at line 583 of file controller.cpp.

ROBOOP::Computed_torque_method::Computed_torque_method	(	const Robot_basic &	robot,
		const DiagonalMatrix &	Kp,
		const DiagonalMatrix &	Kd
	)

Constructor.

Definition at line 593 of file controller.cpp.

ROBOOP::Computed_torque_method::Computed_torque_method ( const Computed_torque_method & x )

Copy constructor.

Definition at line 607 of file controller.cpp.

Member Function Documentation

Computed_torque_method & ROBOOP::Computed_torque_method::operator= ( const Computed_torque_method & x )

Overload = operator.

Definition at line 619 of file controller.cpp.

short ROBOOP::Computed_torque_method::set_Kd ( const DiagonalMatrix & Kd_ )

Assign the velocity error gain matrix $K_d(i,i)$ .

Returns:: short: 0 or WRONG_SIZE if the matrix is not $dof \times dof$ .

Definition at line 658 of file controller.cpp.

Referenced by Computed_torque_method(), and ROBOOP::Control_Select::set_control().

short ROBOOP::Computed_torque_method::set_Kp ( const DiagonalMatrix & Kp_ )

Assign the position error gain matrix $K_p(i,i)$ .

Returns:: short: 0 or WRONG_SIZE if the matrix is not $dof \times dof$ .

Definition at line 675 of file controller.cpp.

Referenced by Computed_torque_method(), and ROBOOP::Control_Select::set_control().

ReturnMatrix ROBOOP::Computed_torque_method::torque_cmd	(	Robot_basic &	robot,
		const ColumnVector &	qd,
		const ColumnVector &	qpd
	)

Output torque.

Definition at line 633 of file controller.cpp.

Referenced by ROBOOP::Dynamics::xdot().

Member Data Documentation

int ROBOOP::Computed_torque_method::dof [private]

Degree of freedom.

Definition at line 226 of file controller.h.

Referenced by Computed_torque_method(), operator=(), set_Kd(), set_Kp(), and torque_cmd().

DiagonalMatrix ROBOOP::Computed_torque_method::Kd [private]

Velocity error gain.

Definition at line 231 of file controller.h.

Referenced by Computed_torque_method(), operator=(), set_Kd(), and torque_cmd().

DiagonalMatrix ROBOOP::Computed_torque_method::Kp [private]

Position error gain.

Definition at line 231 of file controller.h.

Referenced by Computed_torque_method(), operator=(), set_Kp(), and torque_cmd().

ColumnVector ROBOOP::Computed_torque_method::q [private]

Robot joints positions.

Definition at line 227 of file controller.h.

Referenced by Computed_torque_method(), operator=(), and torque_cmd().

ColumnVector ROBOOP::Computed_torque_method::qp [private]

Robot joints velocity.

Definition at line 227 of file controller.h.

Referenced by Computed_torque_method(), operator=(), and torque_cmd().

ColumnVector ROBOOP::Computed_torque_method::qpp [private]

Robot joints acceleration.

Definition at line 227 of file controller.h.

Referenced by Computed_torque_method(), operator=(), and torque_cmd().

ColumnVector ROBOOP::Computed_torque_method::zero3 [private]

$3\times 1$ zero vector.

Definition at line 227 of file controller.h.

Referenced by Computed_torque_method(), operator=(), and torque_cmd().

The documentation for this class was generated from the following files:

ROBOOP v1.21a

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