ERC CISST - cisst software

robManipulator Class Reference

Inheritance diagram for robManipulator:

[legend]Collaboration diagram for robManipulator:

[legend]List of all members.

Detailed Description

Definition at line 26 of file robManipulator.h.

Public Types

enum Errno
enum LinkID

Public Member Functions

robManipulator::Errno LoadRobot (const std::string &linkfile)
Load the kinematics and the dynamics of the robot.
void JacobianBody (const vctDynamicVector< double > &q) const
Evaluates the geometric body Jacobian.
void JacobianSpatial (const vctDynamicVector< double > &q) const
Evaluate the geometric spatial Jacobian.
vctDynamicVector< double > RNE (const vctDynamicVector< double > &q, const vctDynamicVector< double > &qd, const vctDynamicVector< double > &qdd, const vctFixedSizeVector< double, 6 > &f, double g=9.81) const
Evaluate the inverse dynamics through RNE.
vctDynamicVector< double > CCG (const vctDynamicVector< double > &q, const vctDynamicVector< double > &qd) const
Evaluate the coriolis/centrifugal and gravitational forces acting on the manipulator.
vctFixedSizeVector< double, 6 > Acceleration (const vctDynamicVector< double > &q, const vctDynamicVector< double > &qd, const vctDynamicVector< double > &qdd) const
Compute the linear and angular accelerations of the last link.
vctFixedSizeVector< double, 6 > BiasAcceleration (const vctDynamicVector< double > &q, const vctDynamicVector< double > &qd) const
The bias acceleration is the 6D vector Jdqd that is used to evaluate the inverse dynamics in operations space.
void JSinertia (double **A, const vctDynamicVector< double > &q) const
Parameters:

input] A A pointer to an NxN matrix
vctDynamicMatrix< double > JSinertia (const vctDynamicVector< double > &q) const
void OSinertia (double Ac[6][6], const vctDynamicVector< double > &q) const
Parameters:

input] A A pointer to an 6x6 matrix
robManipulator (const vctFrame4x4< double > &Rtw0=vctFrame4x4< double >())
robManipulator (const std::string &robotfilename, const vctFrame4x4< double > &Rtw0=vctFrame4x4< double >())
This constructor initializes a manipulator with the kinematics and dynamics contained in a file.
virtual vctFrame4x4< double > ForwardKinematics (const vctDynamicVector< double > &q, int N=-1) const
Compute the position and orientations of each link wrt to the world frame This method is non-const since it needs to update the position and orientation of each link in order to render them in OpenGL.
virtual robManipulator::Errno InverseKinematics (vctDynamicVector< double > &q, const vctFrame4x4< double > &Rts, double tolerance=1e-12, size_t Niteration=1000)
Compute the inverse kinematics.
virtual vctDynamicVector<
double > InverseDynamics (const vctDynamicVector< double > &q, const vctDynamicVector< double > &qd, const vctDynamicVector< double > &qdd) const
Compute and return the inverse dynamics of the manipulator in joint space.
virtual vctDynamicVector<
double > InverseDynamics (const vctDynamicVector< double > &q, const vctDynamicVector< double > &qd, const vctFixedSizeVector< double, 6 > &vdwd) const
Compute and return the inverse dynamics of the manipulator in operation space.
void Print () const
virtual void Attach (robManipulator *tool)
Attach a tool.

Public Attributes

vctFrame4x4< double > Rtw0
Simply put, this is the position and orientation of the base of the first link with respect to a known world frame.
double ** Jn
The (geometric) body Jacobian in column major.
double ** Js
The (geometric) spatial Jacobian in column major.
std::vector< robLink > links
A vector of links.

Protected Attributes

std::vector< robManipulator * > tools
A vector of tools.

Constructor & Destructor Documentation

robManipulator::robManipulator	(	const std::string &	robotfilename,
		const vctFrame4x4< double > &	Rtw0 = `vctFrame4x4< double >()`
	)

This constructor initializes a manipulator with the kinematics and dynamics contained in a file.

Parameters:

	robotfilename	The file with the kinematics and dynamics parameters
	Rtw0	The offset transformation of the robot base

Member Function Documentation

void robManipulator::JacobianBody ( const vctDynamicVector< double > & q ) const

Evaluates the geometric body Jacobian.

This implements the algorithm of Paul, Shimano, Mayer (SMC81)

void robManipulator::JacobianSpatial ( const vctDynamicVector< double > & q ) const

Evaluate the geometric spatial Jacobian.

Warning:: To evaluate the spatial Jacobian you must first evaluate the body Jacobia

vctDynamicVector<double> robManipulator::RNE	(	const vctDynamicVector< double > &	q,
		const vctDynamicVector< double > &	qd,
		const vctDynamicVector< double > &	qdd,
		const vctFixedSizeVector< double, 6 > &	f,
		double	g = `9.81`
	)			const

Evaluate the inverse dynamics through RNE.

The joints positions, velocities and accelerations must be set before calling this method. It returns a vector of forces/torques that realize the desired state.

Parameters:

	q	The joints positions
	qd	The joints velocities
	qdd	The joints accelerations
	fext	An external force/moment acting on the tool control point
	g	The gravity acceleration

vctDynamicVector<double> robManipulator::CCG	(	const vctDynamicVector< double > &	q,
		const vctDynamicVector< double > &	qd
	)			const

Evaluate the coriolis/centrifugal and gravitational forces acting on the manipulator.

The joints positions, velocities and accelerations must be set before calling this method. It returns a vector of forces/torques that realize the given positions and accelerations. This method is akin to calling RNE without the joints accelerations

vctFixedSizeVector<double,6> robManipulator::Acceleration	(	const vctDynamicVector< double > &	q,
		const vctDynamicVector< double > &	qd,
		const vctDynamicVector< double > &	qdd
	)			const

Compute the linear and angular accelerations of the last link.

This is akin to compute the forward recursion of the RNE.

vctFixedSizeVector<double,6> robManipulator::BiasAcceleration	(	const vctDynamicVector< double > &	q,
		const vctDynamicVector< double > &	qd
	)			const

The bias acceleration is the 6D vector Jdqd that is used to evaluate the inverse dynamics in operations space.

This vector is derived from d (J qd) / dt = Jdqd + J qdd

void robManipulator::JSinertia	(	double **	A,
		const vctDynamicVector< double > &	q
	)			const

Parameters:

input]

A A pointer to an NxN matrix

Parameters:

output]

A The NxN manipulator inertia matrix

void robManipulator::OSinertia	(	double	Ac[6][6],
		const vctDynamicVector< double > &	q
	)			const

Parameters:

input]

A A pointer to an 6x6 matrix

Parameters:

output]

The 6x6 manipulator inertia matrix in operation space

virtual robManipulator::Errno robManipulator::InverseKinematics	(	vctDynamicVector< double > &	q,
		const vctFrame4x4< double > &	Rts,
		double	tolerance = `1e-12`,
		size_t	Niteration = `1000`
	)			`[virtual]`

Compute the inverse kinematics.

The solution is computed with from Newton's algorithm.

Parameters:

	input]	q An initial guess of the solution
	output]	q The inverse kinematics solution
	Rts	The desired position and orientation of the tool control point
	tolerance	The error tolerance of the solution
	Niteration	The maximum number of iteration allowed to find asolution

Returns:: SUCCESS if a solution was found within the given tolerance and number of iterations. ERROR otherwise.

virtual vctDynamicVector<double> robManipulator::InverseDynamics	(	const vctDynamicVector< double > &	q,
		const vctDynamicVector< double > &	qd,
		const vctDynamicVector< double > &	qdd
	)			const `[virtual]`

Compute and return the inverse dynamics of the manipulator in joint space.

InverseDynamics returns the joint torques that corresponds to a manipulator with the given the joints positions, velocities and accelerations.

Parameters:

	q	A vector of joints positions
	qd	A vector of joints velocities
	qdd	A vector of joints accelerations

Returns:: A vector of joints torques

virtual vctDynamicVector<double> robManipulator::InverseDynamics	(	const vctDynamicVector< double > &	q,
		const vctDynamicVector< double > &	qd,
		const vctFixedSizeVector< double, 6 > &	vdwd
	)			const `[virtual]`

Compute and return the inverse dynamics of the manipulator in operation space.

InverseDynamics returns the joint torques that corresponds to a manipulator with the given the joints positions, velocities and the tool control point (TCP) accelerations. The reason why joints positions and velocities are given instead of the position and velocity of the TCP is that the coriolis, centrifugal and gravitational forces are uniquely determined by the joints positions and velocties.

Parameters:

	q	A vector of joints positions
	qd	A vector of joints velocities
	vdwd	A 6D vector of the TCP linear and angular accelerations

Returns:: A vector of joints torques

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

robManipulator.h

erc-cisst-devel<at>lists.johnshopkins.edu