A kinematics class for articulated (6-axis) robot arm Artic implement the kinematics of articulated (6-axis) robot arm. More...

#include <artic.h>

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Public Member Functions
	Artic ()
	Default Constructor.

	Artic (const rb::math::VectorX &a0, const rb::math::VectorX &alpha0, const rb::math::VectorX &d0, const rb::math::VectorX &ini_theta, const rb::math::VectorX &uplimit0, const rb::math::VectorX &lowlimit0)
	Constructor with certain robot arm data. More...

	Artic (std::vector< rb::kin::Link * > &links, rb::math::Matrix4 base=rb::math::Matrix4::Identity(), rb::math::Matrix4 tool=rb::math::Matrix4::Identity(), rb::math::Vector3 gravity={0., 0., rb::math::GRAVITY}, std::string manufactor="None", std::string model="None")
	Constructor with a Links vector and other parameter. More...

	~Artic ()
	Destructor.

ArmPose	forwardKin (const rb::math::VectorX &q, const bool update=true) override
	Compute forward Kinematics for given angle, update each joint value, and return current current position and orientation of TCP. More...

IK_RESULT	inverseKin (const rb::math::Matrix4 &world_tcp_tf, rb::math::VectorX &joints, ArmAxisValue &all_sols) override
	Compute inverse kinematics for given transformation matrix of TCP in Cartesian coordination system. More...

IK_RESULT	inverseKin (const double &x, const double &y, const double &z, const double &roll, const double &pitch, const double &yaw, rb::math::VectorX &joints, ArmAxisValue &all_sols)
	Compute inverse kinematics for given position and orientation in Cartesian coordination system. More...

void	solvePitchPitchIK (const double &th1_rad, const rb::math::Vector4 &p0, const std::vector< bool > &config, ArmAxisValue &all_sols)
	Compute inverse kinematics for two links (pitch-pitch) structure by given first joint. More...

void	solveRowPitchRowIK (const double &th1_rad, const std::vector< bool > &config, const rb::math::Matrix4 &flange_tr, ArmAxisValue &all_sols)
	Compute inverse kinematics for wrist mechanism (row-pitch-row) structure by given first joint. More...

IK_RESULT	solutionCheck (ArmAxisValue &sols)
	Find the solutions in all_sols that is most fit to previous joints value. More...

void	preCheck (const int &njoint, double &rad)
	Check the value of individual joint depend join limits. More...

ArmPose	getArmPose (void) const
	Get the position and orientation of the flange of robot arm. More...

rb::math::VectorX	getA (void) const
	Get the link length `a` value between each joint of the robot arm. More...

rb::math::VectorX	getAlpha (void) const
	Get the link twist $\alpha$ value between each joint of the robot arm. More...

rb::math::VectorX	getD (void) const
	Get the link offset `d` value between each joint of the robot arm. More...

rb::math::VectorX	getTheta (void) const
	Get the joint angle $\theta$ value of each joint of the robot arm. More...

void	setUpLimit (rb::math::VectorX &up_lim)
	Set the upper limits of joint angles for the robot arm. More...

rb::math::VectorX	getUpLimit (void) const
	Get the upper limits of joint angles of the robot arm. More...

void	setLowLimit (rb::math::VectorX &low_lim)
	Set the lower limits of joint angles for the robot arm. More...

rb::math::VectorX	getLowLimit (void) const
	Get the lower limits of joint angles of the robot arm. More...

Public Member Functions inherited from rb::kin::KinematicChain
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	KinematicChain ()
	Default Constuctor.

	KinematicChain (std::vector< rb::kin::Link * > &links, rb::math::Matrix4 base=rb::math::Matrix4::Identity(), rb::math::Matrix4 tool=rb::math::Matrix4::Identity(), rb::math::Vector3 gravity={0., 0., rb::math::GRAVITY}, std::string manufactor="None", std::string model="None")
	Constructor with a Links vector and other parameter.

virtual	~KinematicChain ()
	Destructor.

rb::math::Matrix4	homoTrans (double &A, double &alpha, double &D, const double &theta)
	Compute homogeneous transformation matrix for given link properties, and return the matrix. More...

bool	setTool (const ArmPose &tool_pose)
	Set the HT matrix of the offset b/w the arm flange and equipped tool or end-effector. More...

bool	getTool (ArmPose &tool_pose) const
	Get the HT matrix of the offset b/w the arm flange and equipped tool or end-effector. More...

void	setBase (const rb::math::Matrix4 &base)
	Set the Homogeneous Transformation matrix of the working base of the robot arm. More...

rb::math::Matrix4	getBase (void) const
	Get the HT matrix of the working base of the robot arm. More...

rb::math::Matrix4	getTCP (void) const
	Get the HT matrix of TCP w.r.t world coordination. More...

void	setDOF (void)
	Set the degree of freedom according to the property of links. More...

int	getDOF (void) const
	Get the degree of freedom of this kinematic chain. More...

Protected Attributes
rb::math::VectorX	a
	Link length data member of modified D-H parameter for robot arm. More...

rb::math::VectorX	alpha
	Link twist data member of modified D-H parameter for robot arm. More...

rb::math::VectorX	d
	Link offset data member of modified D-H parameter for robot arm. More...

rb::math::VectorX	theta
	Joint angle data member of modified D-H parameter for robot arm. More...

rb::math::VectorX	up_lim_
	Upper limit of all joints.

rb::math::VectorX	low_lim_
	Lower limit of all joints.

Protected Attributes inherited from rb::kin::KinematicChain
std::vector< rb::kin::Link * >	links_
	A vector of Link class. More...

std::vector< rb::math::Matrix4 * >	frames_
	< A vector of HT matrix to the pose of each joint and TCP. More...

int	dof_
	A integer indicates the degree of freedom.

rb::math::Matrix4	base_tf_
	HT matrix of robot base with respected to world coordination.

rb::math::Matrix4	tool_tf_
	HT matrix of TCP with respected to robot flange (last joint)

rb::math::Matrix4	world_tcp_tf_
	HT matrix of TCP with respected to world coordination. More...

rb::math::Vector3	gravity_
	Gravity set as a vector. More...

std::string	manufactor_
	the name of manufactor of the robot

std::string	model_
	the model of the robot named by its manufactor

Detailed Description

A kinematics class for articulated (6-axis) robot arm Artic implement the kinematics of articulated (6-axis) robot arm.

Constructor & Destructor Documentation

rb::kin::Artic::Artic	(	const rb::math::VectorX &	a0,
		const rb::math::VectorX &	alpha0,
		const rb::math::VectorX &	d0,
		const rb::math::VectorX &	ini_theta,
		const rb::math::VectorX &	uplimit0,
		const rb::math::VectorX &	lowlimit0
	)

Constructor with certain robot arm data.

Parameters

a0	Link length of all links (mm)
alpha0	Twist angle of all links (degree)
d0	Link offset of all links (mm)
ini_theta	Initial value of all joint angles
uplimit0	Upper limit of all joints
lowlimit0	Lower limit of all joints

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rb::kin::Artic::Artic	(	std::vector< rb::kin::Link * > &	links,
		rb::math::Matrix4	base = `rb::math::Matrix4::Identity()`,
		rb::math::Matrix4	tool = `rb::math::Matrix4::Identity()`,
		rb::math::Vector3	gravity = `{0., 0., rb::math::GRAVITY}`,
		std::string	manufactor = `"None"`,
		std::string	model = `"None"`
	)

Constructor with a Links vector and other parameter.

Parameters

links	A vector of link that construct the articulated robot arm
base	HT matrix of robot base with respected to world coordination
tool	HT matrix of TCP with respected to robot flange (last joint)
gravity	Gravity set as a vector.
manufactor	the name of manufactor of the robot
model	the model of the robot named by its manufactor

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Member Function Documentation

ArmPose rb::kin::Artic::forwardKin	(	const rb::math::VectorX &	q,
		const bool	update = `true`
	)

overridevirtual

Compute forward Kinematics for given angle, update each joint value, and return current current position and orientation of TCP.

Parameters

q	An array of joint degree.
update	A boolean to check if update the value of joints and frames.

Returns: ArmPose a structure include position and orientation of TCP.

Reimplemented from rb::kin::KinematicChain.

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rb::math::VectorX rb::kin::Artic::getA ( void ) const

Get the link length a value between each joint of the robot arm.

Returns: rb::math::VectorX

rb::math::VectorX rb::kin::Artic::getAlpha ( void ) const

Get the link twist $\alpha$ value between each joint of the robot arm.

Returns: rb::math::VectorX

ArmPose rb::kin::Artic::getArmPose ( void ) const

Get the position and orientation of the flange of robot arm.

Returns: ArmPose

rb::math::VectorX rb::kin::Artic::getD ( void ) const

Get the link offset d value between each joint of the robot arm.

Returns: rb::math::VectorX

rb::math::VectorX rb::kin::Artic::getLowLimit ( void ) const

Get the lower limits of joint angles of the robot arm.

Returns: rb::math::VectorX

rb::math::VectorX rb::kin::Artic::getTheta ( void ) const

Get the joint angle $\theta$ value of each joint of the robot arm.

Returns: rb::math::VectorX

rb::math::VectorX rb::kin::Artic::getUpLimit ( void ) const

Get the upper limits of joint angles of the robot arm.

Returns: rb::math::VectorX

IK_RESULT rb::kin::Artic::inverseKin	(	const rb::math::Matrix4 &	world_tcp_tf,
		rb::math::VectorX &	joints,
		ArmAxisValue &	all_sols
	)

overridevirtual

Compute inverse kinematics for given transformation matrix of TCP in Cartesian coordination system.

Returns: IK_RESULT a enumerator indicates the result of inverse kinematics.

Parameters

world_tcp_tf	Transformation of tcp in world coordination.
joints	The best fittest solution.
all_sols	A data structure to store all possible solutions.

Implements rb::kin::KinematicChain.

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IK_RESULT rb::kin::Artic::inverseKin	(	const double &	x,
		const double &	y,
		const double &	z,
		const double &	roll,
		const double &	pitch,
		const double &	yaw,
		rb::math::VectorX &	joints,
		ArmAxisValue &	all_sols
	)

Compute inverse kinematics for given position and orientation in Cartesian coordination system.

Returns: IK_RESULT a enumerator indicates the result of inverse kinematics.

Parameters

x	x value of the position.
y	y value of the position.
z	z value of the position.
roll	roll value of the orientation.
pitch	pitch value of the orientation.
yaw	yaw value of the orientation.
joints	the best fittest IK solution.
all_sols	a data structure to store all possible solutions.

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void rb::kin::Artic::preCheck	(	const int &	njoint,
		double &	rad
	)

Check the value of individual joint depend join limits.

Will map map the value to corrected range if possible.

Parameters

njoint	index of joint indicate which joint is examined.
rad	the value of joint will be check and update as output.

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void rb::kin::Artic::setLowLimit ( rb::math::VectorX & low_lim )

Set the lower limits of joint angles for the robot arm.

Parameters

low_lim An rb::math::VectorX contain the lower limit of all joints.

void rb::kin::Artic::setUpLimit ( rb::math::VectorX & up_lim )

Set the upper limits of joint angles for the robot arm.

Parameters

up_lim An rb::math::VectorX contain the upper limit of all joints.

IK_RESULT rb::kin::Artic::solutionCheck ( ArmAxisValue & sols )

Find the solutions in all_sols that is most fit to previous joints value.

Parameters

sols	a structure to storage all possible solutions of inverse kinematics.

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void rb::kin::Artic::solvePitchPitchIK	(	const double &	th1_rad,
		const rb::math::Vector4 &	p0,
		const std::vector< bool > &	config,
		ArmAxisValue &	all_sols
	)

Compute inverse kinematics for two links (pitch-pitch) structure by given first joint.

Parameters

th1_rad	angle (radian) of first joint.
p0	the position of wrist point wrt joint 0 (base)
config	a vector of 3 bits to indicator 8 configuration (solutions) of robot arm.
all_sols

Returns

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void rb::kin::Artic::solveRowPitchRowIK	(	const double &	th1_rad,
		const std::vector< bool > &	config,
		const rb::math::Matrix4 &	flange_tr,
		ArmAxisValue &	all_sols
	)

Compute inverse kinematics for wrist mechanism (row-pitch-row) structure by given first joint.

Parameters

th1_rad	angle (radian) of first joint.
config	a vector of 3 bits to indicator 8 configuration (solutions) of robot arm.
flange_tr	a H.T. Matrix of robot flange with respect to it base.
all_sols	a structure to storage all possible solutions of inverse kinematics.

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Member Data Documentation

rb::math::VectorX rb::kin::Artic::a

protected

Link length data member of modified D-H parameter for robot arm.

Link length (mm)

rb::math::VectorX rb::kin::Artic::alpha

protected

Link twist data member of modified D-H parameter for robot arm.

Link twist angle (degree)

rb::math::VectorX rb::kin::Artic::d

protected

Link offset data member of modified D-H parameter for robot arm.

Link offset (mm)

rb::math::VectorX rb::kin::Artic::theta

protected

Joint angle data member of modified D-H parameter for robot arm.

Joint angle (degree)

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation