ROBOOP::mRobot_min_para Class Reference

#include <robot.h>

Inheritance diagram for ROBOOP::mRobot_min_para:

Detailed Description

Modified DH notation and minimal inertial parameters robot class.

Definition at line 500 of file robot.h.

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 string &filename, const string &robotName)

Constructor.

mRobot_min_para (const Config &robData, const string &robotName)

~mRobot_min_para ()

Destructor.

mRobot_min_para & operator= (const mRobot_min_para &x)

Overload = operator.

virtual void robotType_inv_kin ()

Identify inverse kinematics familly.

virtual ReturnMatrix inv_kin (const Matrix &Tobj, const int mj=0)

Overload inv_kin function.

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

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

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

Inverse kinematics solutions.

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

Analytic Rhino inverse kinematics.

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

Analytic Puma inverse kinematics.

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

Direct kinematics with velocity.

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.

virtual ReturnMatrix jacobian_dot (const int ref=0) const

Jacobian derivative of mobile joints expressed at frame ref.

virtual void dTdqi (Matrix &dRot, ColumnVector &dpos, const int i)

Partial derivative of the robot position (homogeneous transf.) See dTdqi(Matrix & dRot, ColumnVector & dpos, const int i, const int endlink).

virtual ReturnMatrix dTdqi (const int i)

Partial derivative of the robot position (homogeneous transf.) See dTdqi(Matrix & dRot, ColumnVector & dpos, const int i, const int endlink).

virtual void dTdqi (Matrix &dRot, ColumnVector &dpos, const int i, const int endlink)

Partial derivative of the robot position (homogeneous transf.).

virtual ReturnMatrix dTdqi (const int i, const int endlink)

Partial derivative of the robot position (homogeneous transf.).

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.

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.

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.

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

Delta torque due to delta joint velocity.

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.

Constructor & Destructor Documentation

ROBOOP::mRobot_min_para::mRobot_min_para ( const int ndof = 1 ) [explicit]

Constructor.

Definition at line 1519 of file robot.cpp.

ROBOOP::mRobot_min_para::mRobot_min_para ( const Matrix & dhinit ) [explicit]

Constructor.

Definition at line 1528 of file robot.cpp.

ROBOOP::mRobot_min_para::mRobot_min_para	(	const Matrix &	initrobot,
		const Matrix &	initmotor
	)			`[explicit]`

Constructor.

Definition at line 1538 of file robot.cpp.

ROBOOP::mRobot_min_para::mRobot_min_para ( const mRobot_min_para & x )

Copy constructor.

Definition at line 1548 of file robot.cpp.

ROBOOP::mRobot_min_para::mRobot_min_para	(	const string &	filename,
		const string &	robotName
	)			`[explicit]`

Constructor.

Definition at line 1557 of file robot.cpp.

ROBOOP::mRobot_min_para::mRobot_min_para	(	const Config &	robData,
		const string &	robotName
	)			`[explicit]`

Definition at line 1567 of file robot.cpp.

ROBOOP::mRobot_min_para::~mRobot_min_para ( ) [inline]

Destructor.

Definition at line 509 of file robot.h.

Member Function Documentation

ReturnMatrix ROBOOP::mRobot_min_para::C ( const ColumnVector & qp ) [virtual]

Joint torque due to centrifugal and Corriolis based on Recursive Newton-Euler formulation.

Implements ROBOOP::Robot_basic.

Definition at line 868 of file dynamics.cpp.

void ROBOOP::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 ROBOOP::Robot_basic.

Definition at line 509 of file delta_t.cpp.

void ROBOOP::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 ROBOOP::Robot_basic.

Definition at line 335 of file comp_dq.cpp.

void ROBOOP::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 ROBOOP::Robot_basic.

Definition at line 303 of file comp_dqp.cpp.

ReturnMatrix ROBOOP::mRobot_min_para::dTdqi	(	const int	i,
		const int	endlink
	)			`[virtual]`

Partial derivative of the robot position (homogeneous transf.).

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

Implements ROBOOP::Robot_basic.

Definition at line 1088 of file kinemat.cpp.

void ROBOOP::mRobot_min_para::dTdqi	(	Matrix &	dRot,
		ColumnVector &	dpos,
		const int	i,
		const int	endlink
	)			`[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 & dpos, const int i, const int endlink) for equations.

Implements ROBOOP::Robot_basic.

Definition at line 1030 of file kinemat.cpp.

virtual ReturnMatrix ROBOOP::mRobot_min_para::dTdqi ( const int i ) [inline, virtual]

Partial derivative of the robot position (homogeneous transf.) See dTdqi(Matrix & dRot, ColumnVector & dpos, const int i, const int endlink).

Reimplemented from ROBOOP::Robot_basic.

Definition at line 523 of file robot.h.

virtual void ROBOOP::mRobot_min_para::dTdqi	(	Matrix &	dRot,
		ColumnVector &	dpos,
		const int	i
	)			`[inline, virtual]`

Partial derivative of the robot position (homogeneous transf.) See dTdqi(Matrix & dRot, ColumnVector & dpos, const int i, const int endlink).

Reimplemented from ROBOOP::Robot_basic.

Definition at line 522 of file robot.h.

Referenced by dTdqi().

ReturnMatrix ROBOOP::mRobot_min_para::G ( ) [virtual]

Joint torque due to gravity based on Recursive Newton-Euler formulation.

Implements ROBOOP::Robot_basic.

Definition at line 827 of file dynamics.cpp.

ReturnMatrix ROBOOP::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 ROBOOP::Robot_basic.

Definition at line 1407 of file invkine.cpp.

virtual ReturnMatrix ROBOOP::mRobot_min_para::inv_kin	(	const Matrix &	Tobj,
		const int	mj,
		bool &	converge
	)			`[inline, virtual]`

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

Reimplemented from ROBOOP::Robot_basic.

Definition at line 513 of file robot.h.

ReturnMatrix ROBOOP::mRobot_min_para::inv_kin	(	const Matrix &	Tobj,
		const int	mj = `0`
	)			`[virtual]`

Overload inv_kin function.

Reimplemented from ROBOOP::Robot_basic.

Definition at line 1399 of file invkine.cpp.

Referenced by inv_kin().

ReturnMatrix ROBOOP::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 ROBOOP::Robot_basic.

Definition at line 1528 of file invkine.cpp.

Referenced by inv_kin().

ReturnMatrix ROBOOP::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 ROBOOP::Robot_basic.

Definition at line 1429 of file invkine.cpp.

Referenced by inv_kin().

ReturnMatrix ROBOOP::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 ROBOOP::Robot_basic.

Definition at line 1106 of file kinemat.cpp.

virtual ReturnMatrix ROBOOP::mRobot_min_para::jacobian ( const int ref = 0 ) const [inline, virtual]

Jacobian of mobile links expressed at frame ref.

Reimplemented from ROBOOP::Robot_basic.

Definition at line 519 of file robot.h.

ReturnMatrix ROBOOP::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 ROBOOP::Robot_basic.

Definition at line 1161 of file kinemat.cpp.

void ROBOOP::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 ROBOOP::Robot_basic.

Definition at line 1000 of file kinemat.cpp.

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

Overload = operator.

Definition at line 1573 of file robot.cpp.

void ROBOOP::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 ROBOOP::Robot_basic.

Definition at line 1580 of file robot.cpp.

Referenced by mRobot_min_para().

ReturnMatrix ROBOOP::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 ROBOOP::Robot_basic.

Definition at line 692 of file dynamics.cpp.

ReturnMatrix ROBOOP::mRobot_min_para::torque	(	const ColumnVector &	q,
		const ColumnVector &	qp,
		const ColumnVector &	qpp
	)			`[virtual]`

Joint torque without contact force based on Recursive Newton-Euler formulation.

Implements ROBOOP::Robot_basic.

Definition at line 682 of file dynamics.cpp.

ReturnMatrix ROBOOP::mRobot_min_para::torque_novelocity ( const ColumnVector & qpp ) [virtual]

Joint torque. when joint velocity is 0, based on Recursive Newton-Euler formulation.

Implements ROBOOP::Robot_basic.

Definition at line 777 of file dynamics.cpp.

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

ROBOOP v1.21a

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