javax.robotics.engine.controllers
Class ImpedanceControl

java.lang.Object
  javax.robotics.engine.JRoboOp
      javax.robotics.engine.controllers.ImpedanceControl

public class ImpedanceControl
extends JRoboOp

This class implements Impedance position controller. (NOT IMPLEMENTED)

Wrapper class for C++ library ROBOOP.

Since:

1.0.0

Author:

Carmine Lia

Field Summary

Fields inherited from class javax.robotics.engine.JRoboOp

ID, Version

Constructor Summary

ImpedanceControl(Robot robot, double[] Mp, double[] Dp, double[] Kp, double[] Km, double[] Mo, double[] Do, double[] Ko)
Impedance controller class constructor.

Method Summary

short	control(double[] pdpp, double[] pdp, double[] pd, double[] wdp, double[] wd, double[] qd, double[] f, double[] n, double dt) Sets the compliant trajectory for a desired trajectory effector: acceleration, velocity, position, angular acceleration, angular velocity, angular position.
boolean	getConverge() Gets converge flag.
short	getError() Gets error flag.
short	getID() Gets Controller class ID.
short	getRobotID()

Methods inherited from class javax.robotics.engine.JRoboOp

acceleration, acceleration, createComputedTorqueMethod, createGravityCompensation, createImpedance, createPDGravityComp, createProportionalDerivative, createResolveRateAcceleration, createRobot, createRobot, createRobot, createRobot, createRobustControl, createSplinePath, createSplineQuaternion, dTdqi, getAvDof, getConverge, getDof, getError, getGravity, getPosErrorGCOMP, getPosErrorRRA, getQ, getQ, getQMax, getQMin, getQOffset, getQp, getQpp, getQuatErrorGCOMP, getQuatErrorRRA, impedanceControl, inertia, interpolate, interpolatePathQuat, interpolateQuat, invKine, invKine, jacobian, jacobian, jacobianDLSinv, jacobianDot, jacobianDot, kine, kine, setGravity, setKdCTM, setKdPD, setKdPDG, setKdRC, setKpCTM, setKpPD, setKpPDG, setKpRC, setQ, setQ, setQp, setQpp, torque, torque, torqueCmdCTM, torqueCmdGCOMP, torqueCmdGCOMP, torqueCmdPD, torqueCmdPDG, torqueCmdRC, torqueCmdRRA, torqueCmdRRA, torqueCoriolis, torqueCoulombFriction, torqueGravity, torqueViscousFriction

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

ImpedanceControl

public ImpedanceControl(Robot robot,
                        double[] Mp,
                        double[] Dp,
                        double[] Kp,
                        double[] Km,
                        double[] Mo,
                        double[] Do,
                        double[] Ko)

Impedance controller class constructor.

Call C++ constructor

 Impedance(const Robot_basic &robot, 
                             const DiagonalMatrix &Mp, const DiagonalMatrix &Dp,
                             const DiagonalMatrix &Kp, const Matrix &Km,
                             const DiagonalMatrix &Mo, const DiagonalMatrix &Do,
                             const DiagonalMatrix &Do)
 

Parameters:

robot - Robot class.

Mp - diagonal matrix, translational impedance inertia matrix

Dp - diagonal matrix, translational impedance damping matrix

Kp - diagonal matrix, translational impedance stiffness matrix

Km - matrix

Mo - diagonal matrix, rotational impedance inertia matrix

Do - diagonal matrix, rotational impedance damping matrix

Ko - diagonal matrix, rotational impedance stiffness matrix

Method Detail

getID

public final short getID()

Gets Controller class ID.

Specified by:

getID in class JRoboOp

Returns:

ID

getConverge

public final boolean getConverge()

Gets converge flag.

Returns:

converge flag

getError

public short getError()

Gets error flag.

Returns:

error flag.

getRobotID

public short getRobotID()

control

public short control(double[] pdpp,
                     double[] pdp,
                     double[] pd,
                     double[] wdp,
                     double[] wd,
                     double[] qd,
                     double[] f,
                     double[] n,
                     double dt)

Sets the compliant trajectory for a desired trajectory effector: acceleration, velocity, position, angular acceleration, angular velocity, angular position.

Call C++ Impedance method

 control(Robot_basic &robot, 
                                const ColumnVector &pdpp const ColumnVector &pdp,
                                const ColumnVector &pd, const ColumnVector &wdp,
                                const ColumnVector &wd, const Quaternion &qd,
                                const ColumnVector &f, const Columnvector &n, 
                                const Real dt)
 

Parameters:

pdpp - desired acceleration

pdp - desired velocity

pd - desired position

wdp - desired angular acceleration

wd - desired angular velocity

qd - desired vector angular position: quaternion (s,v1,v2,v3)

f - end effector contact force

n - end effector contact moment

dt - sample time

Returns:

0 successfull otherwise indicates the wrong size of input vectors.