javax.robotics.engine.robots
Class DHRobot

java.lang.Object
  javax.robotics.engine.JRoboOp
      javax.robotics.engine.robots.DHRobot

All Implemented Interfaces:

java.io.Serializable, Robot

Direct Known Subclasses:

DHRobot3D

public class DHRobot
extends JRoboOp
implements Robot

This class implements kinematics and dynamics model of a robot manipulator based on Denavit-Hartenberg table.

Wrapper class for C++ library ROBOOP.

Since:

1.0.0

Version:

30/10/2005

Author:

Carmine Lia

See Also:

Serialized Form

Field Summary

Fields inherited from class javax.robotics.engine.JRoboOp

ID, Version

Fields inherited from interface javax.robotics.engine.robots.Robot

DEBUG, HOMOGENEOUS_MATRIX_DIM, INITMOTOR_DIM, INITROBOT_DIM, JACOBIAN_DIMENSION, SPACE_DIM

Constructor Summary

DHRobot()
Default Robot constructor.

DHRobot(java.io.File fileName)
Robot constructor with file parameter.

DHRobot(java.io.InputStream fileName)
Robot constructor with xml file parameter as input stream.

DHRobot(int nLinks, double[] initRobot)
Robot constructor with init parameter.

DHRobot(int nLinks, double[] initRobot, double[] initMotor)
Robot constructor with init parameter and motor parameter.

DHRobot(java.lang.String fileName)
Robot constructor with xml file parameter.

DHRobot(java.lang.String fileName, java.lang.String robotName)
Deprecated.

DHRobot(java.net.URI uri)
Robot constructor with URI of xml file parameter.

Method Summary

RVector	acceleration(double[] q, double[] qp, double[] tau) Computes the solution of the Forward Dynamics Problem.
RVector	acceleration(double[] q, double[] qp, double[] tauCmd, double[] Fext, double[] Next) Computes the solution of the Forward Dynamics Problem with load applied to the last link.
RVector	acceleration(RVector q, RVector qp, RVector tau) Computes the solution of the Forward Dynamics Problem.
RVector	acceleration(RVector q, RVector qp, RVector tauCmd, RVector3d Fext, RVector3d Next) Computes the solution of the Forward Dynamics Problem with load applied to the last link.
RMatrix4d	dTdqi(int j) Computes the partial derivative of homogeneous transform respect j-th joint.
int	getAvailableDof() Gets the available degrees of freedom of robot.
int	getDof() Gets the degrees of freedom of robot.
RVector3d	getGravity() Gets gravity vector.
short	getID() Gets Robot class ID
RVector	getQ() Gets joints position.
double	getQ(int i) Position of i-th joint.
RVector	getQMax() Gets joints maximum position.
RVector	getQMin() Gets joints minimum position.
RVector	getQOffset() Gets joints offset position.
RVector	getQp() Gets joints velocity.
RVector	getQpp() Gets joints acceleration.
XmlRobot	getRobotConfiguration() Gets the robot configuration.
Matrix	inertia(RVector q) Computes the inertia matrix.
RVector	invKine(RMatrix4d Tobj) Computes the solution of the Inverse Kinematics Problem from homogeneous transform matrix using a Newton-Raphson technique.
RVector	invKine(RMatrix4d Tobj, int mj, int endlink) Computes the solution of the Inverse Kinematics Problem from homogeneous transform matrix using a Newton-Raphson or Taylor expansion techniques.
Matrix	jacobian() Computes the Jacobian matrix expressed in the base frame.
Matrix	jacobian(int ref) Computes the Jacobian matrix expressed in the ref-th frame.
Matrix	jacobianDLSinv(double eps, double lambdaMax) Computes the 6x6 inverse Jacobian matrix based on the Damped Least-Squares scheme.
Matrix	jacobianDot() Computes the Jacobian time derivative matrix expressed in the base frame.
Matrix	jacobianDot(int ref) Computes the Jacobian time derivative matrix expressed in the ref-th frame.
RMatrix4d	kine() Computes the solution of the Forward Kinematics Problem.
RMatrix4d	kine(int j) Computes the solution of the Forward Kinematics Problem for the link j.
void	setGravity(RVector3d g) Sets the gravity vector.
void	setQ(double[] q) Sets joints position.
void	setQ(double q, int i) Sets the position pf i-th joint position.
void	setQ(RVector q) Sets joints position.
void	setQp(double[] qp) Sets joints velocity.
void	setQp(RVector qp) Sets joints velocity.
void	setQpp(double[] qpp) Sets joints acceleration.
void	setQpp(RVector qpp) Sets joints acceleration.
RVector	torque(double[] q, double[] qp, double[] qpp) Computes the solution of the Inverse Dynamics Problem.
RVector	torque(double[] q, double[] qp, double[] qpp, double[] Fext, double[] Next) Computes the solution of the Inverse Dynamics Problem with load applied to the last link.
RVector	torque(RVector q, RVector qp, RVector qpp) Computes the solution of the Inverse Dynamics Problem.
RVector	torque(RVector q, RVector qp, RVector qpp, RVector3d Fext, RVector3d Next) Computes the solution of the Inverse Dynamics Problem with load applied to the last link.
RVector	torqueC(RVector qp) Computes the torques from the Coriolis and centrifugal effect.
RVector	torqueCoulombFriction(RVector qp) Computes the torques from the Coulomb friction.
RVector	torqueGravity() Computes the torques from the gravity effect.
RVector	torqueViscousFriction(RVector qp) Computes the torques from the viscous friction.

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

DHRobot

public DHRobot()

Default Robot constructor.

DHRobot

public DHRobot(int nLinks,
               double[] initRobot)

Robot constructor with init parameter.

Column	Variable	Description
1	σ	joint type (revolute=0, prismatic=1)
2	θ	Denavit-Hartenberg parameter
3	d	Denavit-Hartenberg parameter
4	a	Denavit-Hartenberg parameter
5	α	Denavit-Hartenberg parameter
6	qmin	minimum value of joint variable
7	qmax	maximum value of joint variable
8	θoff	joint offset
9	m	mass of the link
10	cx	center of mass along axis x
11	cy	center of mass along axis y
12	cz	center of mass along axis z
13	Ixx	element xx of the inertia tensor matrix
14	Ixy	element xy of the inertia tensor matrix
15	Ixz	element xz of the inertia tensor matrix
16	Iyy	element yy of the inertia tensor matrix
17	Iyz	element yz of the inertia tensor matrix
18	Izz	element zz of the inertia tensor matrix
19	Im	motor rotor inertia
20	Gr	motor gear ratio
21	B	motor viscous friction coefficient
22	Cf	motor Coulomb friction coefficient
23	immobile	flag for the kinematics and inverse kinematics (if true joint is locked, if false joint is free)

Parameters:

nLinks - number of robot links

initRobot - vector of robot parameter; dimension: nLinks x 23

DHRobot

public DHRobot(int nLinks,
               double[] initRobot,
               double[] initMotor)

Robot constructor with init parameter and motor parameter.

Parameters:

nLinks - number of links or robot

initRobot - vector of robot parameter; dimension: nLinks x 19

initMotor - vector of motor robot parameter; dimension: nLinks x 4

See Also:

DHRobot(int, double[])

DHRobot

public DHRobot(java.lang.String fileName,
               java.lang.String robotName)

Deprecated.

Robot constructor with ROBOOP file parameter.

Parameters:

fileName - configuration file name of robot parameter

robotName - name of the robot

DHRobot

public DHRobot(java.net.URI uri)
        throws org.apache.xmlbeans.XmlException,
               java.io.IOException

Robot constructor with URI of xml file parameter. The URI can be an URL or a file path.

Parameters:

uri - xml configuration file URI of robot parameter

Throws:

org.apache.xmlbeans.XmlException

java.io.IOException

DHRobot

public DHRobot(java.lang.String fileName)
        throws org.apache.xmlbeans.XmlException,
               java.io.IOException

Robot constructor with xml file parameter.

Parameters:

fileName - xml configuration file name of robot parameter

Throws:

org.apache.xmlbeans.XmlException

java.io.IOException

DHRobot

public DHRobot(java.io.File fileName)
        throws org.apache.xmlbeans.XmlException,
               java.io.IOException

Robot constructor with file parameter.

Parameters:

fileName - xml configuration file name of robot parameter

Throws:

org.apache.xmlbeans.XmlException

java.io.IOException

DHRobot

public DHRobot(java.io.InputStream fileName)
        throws org.apache.xmlbeans.XmlException,
               java.io.IOException

Robot constructor with xml file parameter as input stream.

Parameters:

fileName - xml configuration file name of robot parameter

Throws:

org.apache.xmlbeans.XmlException

java.io.IOException

Method Detail

getID

public final short getID()

Gets Robot class ID

Specified by:

getID in interface Robot

Specified by:

getID in class JRoboOp

Returns:

ID

getRobotConfiguration

public final XmlRobot getRobotConfiguration()

Description copied from interface: Robot

Gets the robot configuration.

Specified by:

getRobotConfiguration in interface Robot

Returns:

the robot configuration.

getDof

public final int getDof()

Description copied from interface: Robot

Gets the degrees of freedom of robot.

Specified by:

getDof in interface Robot

Returns:

degrees of freedom of robot manipulator

getAvailableDof

public final int getAvailableDof()

Description copied from interface: Robot

Gets the available degrees of freedom of robot.

Specified by:

getAvailableDof in interface Robot

Returns:

the available degrees of freedom of robot manipulator

getQMin

public final RVector getQMin()

Description copied from interface: Robot

Gets joints minimum position.

Specified by:

getQMin in interface Robot

Returns:

vector of joints minimum position.

getQMax

public final RVector getQMax()

Description copied from interface: Robot

Gets joints maximum position.

Specified by:

getQMax in interface Robot

Returns:

vector of joints maximum position.

getQOffset

public final RVector getQOffset()

Description copied from interface: Robot

Gets joints offset position.

Specified by:

getQOffset in interface Robot

Returns:

vector of joints offset position.

getQ

public RVector getQ()

Description copied from interface: Robot

Gets joints position. The position is computed subtracting the offset.

Specified by:

getQ in interface Robot

Returns:

vector of joints position.

getQ

public double getQ(int i)

Description copied from interface: Robot

Position of i-th joint. The position is computed subtracting the offset.

Specified by:

getQ in interface Robot

Parameters:

i - joint

Returns:

joint position.

getQp

public RVector getQp()

Description copied from interface: Robot

Gets joints velocity.

Specified by:

getQp in interface Robot

Returns:

vector of joints velocity

getQpp

public RVector getQpp()

Description copied from interface: Robot

Gets joints acceleration.

Specified by:

getQpp in interface Robot

Returns:

vector of joints acceleration

setQ

public void setQ(RVector q)

Description copied from interface: Robot

Sets joints position. The position is computed adding the offset.

Specified by:

setQ in interface Robot

Parameters:

q - vector of joints position

setQ

public void setQ(double[] q)

Description copied from interface: Robot

Sets joints position. The position is computed adding the offset.

Specified by:

setQ in interface Robot

Parameters:

q - vector of joints position

setQ

public void setQ(double q,
                 int i)

Description copied from interface: Robot

Sets the position pf i-th joint position. The position is computed adding the offset.

Specified by:

setQ in interface Robot

Parameters:

q - joint position

i - joint

setQp

public void setQp(RVector qp)

Description copied from interface: Robot

Sets joints velocity.

Specified by:

setQp in interface Robot

Parameters:

qp - vector of joints velocity

setQp

public void setQp(double[] qp)

Description copied from interface: Robot

Sets joints velocity.

Specified by:

setQp in interface Robot

Parameters:

qp - array of joints velocity

setQpp

public void setQpp(RVector qpp)

Description copied from interface: Robot

Sets joints acceleration.

Specified by:

setQpp in interface Robot

Parameters:

qpp - vector of joints position

setQpp

public void setQpp(double[] qpp)

Description copied from interface: Robot

Sets joints acceleration.

Specified by:

setQpp in interface Robot

Parameters:

qpp - the array of joints position

invKine

public RVector invKine(RMatrix4d Tobj)

Description copied from interface: Robot

Computes the solution of the Inverse Kinematics Problem from homogeneous transform matrix using a Newton-Raphson technique.

Specified by:

invKine in interface Robot

Parameters:

Tobj - homogeneous transform matrix

Returns:

joints position

invKine

public RVector invKine(RMatrix4d Tobj,
                       int mj,
                       int endlink)

Description copied from interface: Robot

Computes the solution of the Inverse Kinematics Problem from homogeneous transform matrix using a Newton-Raphson or Taylor expansion techniques.

Specified by:

invKine in interface Robot

Parameters:

Tobj - homogeneous transform matrix

mj - value 0,1 to choose the technique: Newton-Raphson, Taylor expansion respectively.

endlink - the link to pretend is the end effector.

Returns:

joints position if converge otherwise null value.

jacobian

public Matrix jacobian()

Description copied from interface: Robot

Computes the Jacobian matrix expressed in the base frame.

Specified by:

jacobian in interface Robot

Returns:

jacobian matrix

jacobian

public Matrix jacobian(int ref)

Description copied from interface: Robot

Computes the Jacobian matrix expressed in the ref-th frame.

Specified by:

jacobian in interface Robot

Parameters:

ref - frame reference

Returns:

jacobian matrix

jacobianDot

public Matrix jacobianDot()

Description copied from interface: Robot

Computes the Jacobian time derivative matrix expressed in the base frame.

Specified by:

jacobianDot in interface Robot

Returns:

jacobian time derivative matrix

jacobianDot

public Matrix jacobianDot(int ref)

Description copied from interface: Robot

Computes the Jacobian time derivative matrix expressed in the ref-th frame.

Specified by:

jacobianDot in interface Robot

Parameters:

ref - frame reference

Returns:

jacobian time derivative matrix

jacobianDLSinv

public Matrix jacobianDLSinv(double eps,
                             double lambdaMax)

Description copied from interface: Robot

Computes the 6x6 inverse Jacobian matrix based on the Damped Least-Squares scheme.

Specified by:

jacobianDLSinv in interface Robot

Parameters:

eps - the area of singular region

lambdaMax - the maximum damping factor

Returns:

inverse jacobian matrix

kine

public RMatrix4d kine()

Description copied from interface: Robot

Computes the solution of the Forward Kinematics Problem.

Specified by:

kine in interface Robot

Returns:

homogeneous transform matrix

kine

public RMatrix4d kine(int j)

Description copied from interface: Robot

Computes the solution of the Forward Kinematics Problem for the link j.

Specified by:

kine in interface Robot

Parameters:

j - link of forward kinematic

Returns:

homogeneous transform matrix

dTdqi

public RMatrix4d dTdqi(int j)

Description copied from interface: Robot

Computes the partial derivative of homogeneous transform respect j-th joint.

Specified by:

dTdqi in interface Robot

Parameters:

j - joint

Returns:

homogeneous partial derivative transform

acceleration

public RVector acceleration(RVector q,
                            RVector qp,
                            RVector tau)

Description copied from interface: Robot

Computes the solution of the Forward Dynamics Problem.

Specified by:

acceleration in interface Robot

Parameters:

q - the vector joints position

qp - the vector joints velocity

tau - the vector joints torque

Returns:

the vector joints acceleration

acceleration

public RVector acceleration(double[] q,
                            double[] qp,
                            double[] tau)

Description copied from interface: Robot

Computes the solution of the Forward Dynamics Problem.

Specified by:

acceleration in interface Robot

Parameters:

q - array of joints position

qp - array of joints velocity

tau - array of joints torque

Returns:

the array of joints acceleration

acceleration

public RVector acceleration(RVector q,
                            RVector qp,
                            RVector tauCmd,
                            RVector3d Fext,
                            RVector3d Next)

Description copied from interface: Robot

Computes the solution of the Forward Dynamics Problem with load applied to the last link.

Specified by:

acceleration in interface Robot

Parameters:

q - joints position

qp - joints velocity

tauCmd - joints torque

Fext - load applied at last link

Next - load applied at last link

Returns:

joints acceleration

acceleration

public RVector acceleration(double[] q,
                            double[] qp,
                            double[] tauCmd,
                            double[] Fext,
                            double[] Next)

Description copied from interface: Robot

Computes the solution of the Forward Dynamics Problem with load applied to the last link.

Specified by:

acceleration in interface Robot

Parameters:

q - the array of joints position

qp - the array of joints velocity

tauCmd - the array of joints torque

Fext - the array of the load applied at last link

Next - the array of the load applied at last link

Returns:

the array of joints acceleration

torque

public RVector torque(RVector q,
                      RVector qp,
                      RVector qpp)

Description copied from interface: Robot

Computes the solution of the Inverse Dynamics Problem.

Specified by:

torque in interface Robot

Parameters:

q - joints position

qp - joints velocity

qpp - joints acceleration

Returns:

joints torque

torque

public RVector torque(double[] q,
                      double[] qp,
                      double[] qpp)

Description copied from interface: Robot

Computes the solution of the Inverse Dynamics Problem.

Specified by:

torque in interface Robot

Parameters:

q - the array of joints position

qp - the array of joints velocity

qpp - the array of joints acceleration

Returns:

the array of joints torque

torque

public RVector torque(RVector q,
                      RVector qp,
                      RVector qpp,
                      RVector3d Fext,
                      RVector3d Next)

Description copied from interface: Robot

Computes the solution of the Inverse Dynamics Problem with load applied to the last link.

Specified by:

torque in interface Robot

Parameters:

q - joints position

qp - joints velocity

qpp - joints acceleration

Fext - load applied at last link

Next - load applied at last link

Returns:

joints torque

torque

public RVector torque(double[] q,
                      double[] qp,
                      double[] qpp,
                      double[] Fext,
                      double[] Next)

Description copied from interface: Robot

Computes the solution of the Inverse Dynamics Problem with load applied to the last link.

Specified by:

torque in interface Robot

Parameters:

q - the array of joints position

qp - the array of joints velocity

qpp - the array of joints acceleration

Fext - the array of the load applied at last link

Next - the array of the load applied at last link

Returns:

the array of joints torque

torqueGravity

public RVector torqueGravity()

Description copied from interface: Robot

Computes the torques from the gravity effect.

Specified by:

torqueGravity in interface Robot

Returns:

joints torque

torqueC

public RVector torqueC(RVector qp)

Description copied from interface: Robot

Computes the torques from the Coriolis and centrifugal effect.

Specified by:

torqueC in interface Robot

Parameters:

qp - joints velocity

Returns:

joints torque

torqueViscousFriction

public RVector torqueViscousFriction(RVector qp)

Description copied from interface: Robot

Computes the torques from the viscous friction.

Specified by:

torqueViscousFriction in interface Robot

Parameters:

qp - joints velocity

Returns:

joints torque

torqueCoulombFriction

public RVector torqueCoulombFriction(RVector qp)

Description copied from interface: Robot

Computes the torques from the Coulomb friction.

Specified by:

torqueCoulombFriction in interface Robot

Parameters:

qp - joints velocity

Returns:

joints torque

inertia

public Matrix inertia(RVector q)

Description copied from interface: Robot

Computes the inertia matrix.

Call C++ Robot method

 inertia(const ColumnVector &q)
 

Specified by:

inertia in interface Robot

Parameters:

q - joints position

Returns:

intertia matrix

getGravity

public RVector3d getGravity()

Description copied from interface: Robot

Gets gravity vector.

Specified by:

getGravity in interface Robot

Returns:

the gravity vector

setGravity

public void setGravity(RVector3d g)

Description copied from interface: Robot

Sets the gravity vector.

Specified by:

setGravity in interface Robot

Parameters:

g - the new gravity vector.