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ROBOOP::Resolved_acc Class Reference#include <controller.h>
Detailed DescriptionResolved rate acceleration controller class.The dynamic model of a robot manipulator can be expressed in joint space as
According to the concept of inverse dynamics, the driving torques can be chosen as
where
where Up to now this class has been tested only with a 6 dof robot. Definition at line 162 of file controller.h.
Constructor & Destructor Documentation
Member Function Documentation
Assign the gain
Definition at line 519 of file controller.cpp. Referenced by Resolved_acc(), and ROBOOP::Control_Select::set_control().
Assign the gain
Definition at line 525 of file controller.cpp. Referenced by Resolved_acc(), and ROBOOP::Control_Select::set_control().
Assign the gain
Definition at line 531 of file controller.cpp. Referenced by Resolved_acc(), and ROBOOP::Control_Select::set_control().
Assign the gain
Definition at line 537 of file controller.cpp. Referenced by Resolved_acc(), and ROBOOP::Control_Select::set_control().
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 543 of file controller.cpp. Referenced by ROBOOP::Dynamics::xdot().
Member Data Documentation
Controller gains.
Definition at line 181 of file controller.h. Referenced by operator=(), Resolved_acc(), set_Kvp(), and torque_cmd().
Definition at line 181 of file controller.h. Referenced by operator=(), Resolved_acc(), set_Kpp(), and torque_cmd().
Definition at line 181 of file controller.h. Referenced by operator=(), Resolved_acc(), set_Kvo(), and torque_cmd().
Definition at line 181 of file controller.h. Referenced by operator=(), Resolved_acc(), set_Kpo(), and torque_cmd().
Definition at line 186 of file controller.h. Referenced by operator=(), Resolved_acc(), and torque_cmd().
Robot joints velocity.
Definition at line 186 of file controller.h. Referenced by operator=(), Resolved_acc(), and torque_cmd().
Robot joints acceleration.
Definition at line 186 of file controller.h. Referenced by operator=(), Resolved_acc(), and torque_cmd().
Control input.
Definition at line 186 of file controller.h. Referenced by operator=(), Resolved_acc(), and torque_cmd().
End effector position.
Definition at line 186 of file controller.h. Referenced by operator=(), Resolved_acc(), and torque_cmd().
End effector velocity.
Definition at line 186 of file controller.h. Referenced by operator=(), Resolved_acc(), and torque_cmd(). Vector part of error quaternion.
Definition at line 186 of file controller.h. Referenced by operator=(), Resolved_acc(), and torque_cmd().
Temporary quaternion.
Definition at line 193 of file controller.h. Referenced by operator=(), Resolved_acc(), and torque_cmd().
The documentation for this class was generated from the following files: |
ROBOOP v1.21a |
Generated Thu Nov 22 00:51:35 2007 by Doxygen 1.5.4 |