javax.robotics.engine.controllers
Class ResolvedRateAcceleration

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

All Implemented Interfaces:

Controller, EndEffController

public class ResolvedRateAcceleration
extends JRoboOp
implements EndEffController

This class implements Resolved Rate Acceleration controller. The scheme of the control:

the dynamics model of robot: B(q)*q'' + n(q,q') = u, n(q,q') = C(q,q')*q'+ Fq'+ g(q)
the resultant error equation: e'' + Kd*e' + Kp*e = 0

Wrapper class for C++ library ROBOOP.

Since:

1.0.0

Version:

7/10/2005

Author:

Carmine Lia

Field Summary

Fields inherited from class javax.robotics.engine.JRoboOp

ID, Version

Constructor Summary

ResolvedRateAcceleration(Robot robot, double Kdp, double Kpp)
Resolved Rate Acceleration controller class constructor with positional jacobian.

ResolvedRateAcceleration(Robot robot, double Kdp, double Kpp, double Kdo, double Kpo)
Resolved Rate Acceleration controller class constructor.

Method Summary

short	getID() Gets Controller class ID.
RVector3d	getOrientationError() Gets the current orientation error.
RVector3d	getPositionError() Gets the position error.
short	getRobotID() Gets Robot class ID linked to controller.
double[]	torqueCmd(double[] pdpp, double[] pdp, double[] pd, double[] wdp, double[] wd, double[] quatd) Sets the output torque for a desired end effector: acceleration, velocity, position, angular acceleration, angular velocity, angular position.
RVector	torqueCmd(RVector3d pdpp, RVector3d pdp, RVector3d pd) Sets the output torque for a desired end effector: acceleration, velocity, position.
RVector	torqueCmd(RVector3d pdpp, RVector3d pdp, RVector3d pd, RVector3d wdp, RVector3d wd, Quaternion quatd) Sets the output torque for a desired end effector: acceleration, velocity, position, angular acceleration, angular velocity, angular position.

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

ResolvedRateAcceleration

public ResolvedRateAcceleration(Robot robot,
                                double Kdp,
                                double Kpp,
                                double Kdo,
                                double Kpo)

Resolved Rate Acceleration controller class constructor.

Parameters:

robot - Robot class.

Kdp - end effector velocity error gain

Kpp - end effector position error gain

Kdo - end effector orientation angular rate gain

Kpo - end effector orientation error gain

ResolvedRateAcceleration

public ResolvedRateAcceleration(Robot robot,
                                double Kdp,
                                double Kpp)

Resolved Rate Acceleration controller class constructor with positional jacobian.

Parameters:

robot - Robot class.

Kdp - end effector velocity error gain

Kpp - end effector position error gain

Method Detail

getID

public final short getID()

Gets Controller class ID.

Specified by:

getID in interface Controller

Specified by:

getID in class JRoboOp

Returns:

ID

getRobotID

public final short getRobotID()

Description copied from interface: Controller

Gets Robot class ID linked to controller.

Specified by:

getRobotID in interface Controller

Returns:

ID

getPositionError

public RVector3d getPositionError()

Description copied from interface: EndEffController

Gets the position error.

Specified by:

getPositionError in interface EndEffController

Returns:

the position error vector.

getOrientationError

public RVector3d getOrientationError()

Description copied from interface: EndEffController

Gets the current orientation error. The error is computed form quaternion as:

η(q)&epsilon_d - &eta_d&epsilon(q) - S(&epsilon_d)&epsilon(q)

where η and ε are the vector and the scalar components of quaternion respectively.

Specified by:

getOrientationError in interface EndEffController

Returns:

the orientation error vector.

torqueCmd

public double[] torqueCmd(double[] pdpp,
                          double[] pdp,
                          double[] pd,
                          double[] wdp,
                          double[] wd,
                          double[] quatd)

Sets the output torque for a desired end effector: acceleration, velocity, position, angular acceleration, angular velocity, angular position.

Parameters:

pdpp - desired acceleration

pdp - desired velocity

pd - desired position

wdp - desired angular acceleration

wd - desired angular velocity

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

Returns:

the output torque

torqueCmd

public RVector torqueCmd(RVector3d pdpp,
                         RVector3d pdp,
                         RVector3d pd,
                         RVector3d wdp,
                         RVector3d wd,
                         Quaternion quatd)

Sets the output torque for a desired end effector: acceleration, velocity, position, angular acceleration, angular velocity, angular position.

Specified by:

torqueCmd in interface EndEffController

Parameters:

pdpp - desired acceleration

pdp - desired velocity

pd - desired position

wdp - desired angular acceleration

wd - desired angular velocity

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

Returns:

the output torque

torqueCmd

public RVector torqueCmd(RVector3d pdpp,
                         RVector3d pdp,
                         RVector3d pd)

Sets the output torque for a desired end effector: acceleration, velocity, position. Only the positional jacobian is used.

Specified by:

torqueCmd in interface EndEffController

Parameters:

pdpp - desired acceleration

pdp - desired velocity

pd - desired position

Returns:

the output torque