javax.robotics.engine.robots
Class DHRobot3D

java.lang.Object
  javax.robotics.engine.JRoboOp
      javax.robotics.engine.robots.DHRobot
          javax.robotics.engine.robots.DHRobot3D

All Implemented Interfaces:

java.io.Serializable, Robot, Robot3D

public class DHRobot3D
extends DHRobot
implements Robot3D

This class implements graphic 3D, kinematics and dynamics model of a robot manipulator based on Denavit-Hartenberg table.

Since:

1.0.3

Version:

11/11/2005

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.Robot3D

PRISMATIC, REVOLUTE

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

DEBUG, HOMOGENEOUS_MATRIX_DIM, INITMOTOR_DIM, INITROBOT_DIM, JACOBIAN_DIMENSION, SPACE_DIM

Constructor Summary

DHRobot3D(java.io.File fileName)
Robot constructor with xml file parameter.

DHRobot3D(java.io.InputStream fileName)
Robot constructor with xml file parameter as input stream.

DHRobot3D(int nLinks, double[] initRobot)
Robot constructor with init parameter.

DHRobot3D(int nLinks, double[] initRobot, double[] initMotor)
Robot constructor with init parameter and motor parameter.

DHRobot3D(java.lang.String fileName)
Robot constructor with xml file parameter.

DHRobot3D(java.net.URI uri)
Robot constructor with URI of xml file parameter.

Method Summary

javax.media.j3d.BranchGroup	getModel3D() Gets the model 3D of robot manipulator.
RMatrix4d	getTransformMatrix(int i) Gets the 4x4 transformation matrix of i-th joint.
boolean	isJointImmobile(int i) Gets the immobile flag.
boolean	isJointPrismatic(int i) Gets the type of joint REVOLUTE or PRISMATIC
void	setQ3D(double[] q) Sets the position of the joints.
void	setQ3D(double q, int i) Sets the position of the i-th joint.
void	setQ3D(RVector q) Sets the position of the joints.
void	setQ3DOnly(double[] q) Sets the position of the joints only of 3D model.
void	setQ3DOnly(double q, int i) Sets the position of the i-th joint only of 3D model.
void	setQ3DOnly(RVector q) Sets the position of the joints only of 3D model.

Methods inherited from class javax.robotics.engine.robots.DHRobot

acceleration, acceleration, acceleration, acceleration, dTdqi, getAvailableDof, getDof, getGravity, getID, getQ, getQ, getQMax, getQMin, getQOffset, getQp, getQpp, getRobotConfiguration, inertia, invKine, invKine, jacobian, jacobian, jacobianDLSinv, jacobianDot, jacobianDot, kine, kine, setGravity, setQ, setQ, setQ, setQp, setQp, setQpp, setQpp, torque, torque, torque, torque, torqueC, torqueCoulombFriction, torqueGravity, torqueViscousFriction

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

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

acceleration, acceleration, acceleration, acceleration, dTdqi, getAvailableDof, getDof, getGravity, getID, getQ, getQ, getQMax, getQMin, getQOffset, getQp, getQpp, getRobotConfiguration, inertia, invKine, invKine, jacobian, jacobian, jacobianDLSinv, jacobianDot, jacobianDot, kine, kine, setGravity, setQ, setQ, setQ, setQp, setQp, setQpp, setQpp, torque, torque, torque, torque, torqueC, torqueCoulombFriction, torqueGravity, torqueViscousFriction

Constructor Detail

DHRobot3D

public DHRobot3D(int nLinks,
                 double[] initRobot)

Robot constructor with init parameter.

Parameters:

nLinks - number of robot links

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

See Also:

DHRobot.DHRobot(int, double[])

DHRobot3D

public DHRobot3D(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.DHRobot(int, double[], double[])

DHRobot3D

public DHRobot3D(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

DHRobot3D

public DHRobot3D(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

DHRobot3D

public DHRobot3D(java.io.File 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

DHRobot3D

public DHRobot3D(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

isJointPrismatic

public final boolean isJointPrismatic(int i)

Description copied from interface: Robot3D

Gets the type of joint REVOLUTE or PRISMATIC

Specified by:

isJointPrismatic in interface Robot3D

Parameters:

i - the joint

Returns:

true if prismatic false if revolute

isJointImmobile

public boolean isJointImmobile(int i)

Description copied from interface: Robot3D

Gets the immobile flag.

Specified by:

isJointImmobile in interface Robot3D

Parameters:

i - the joint

Returns:

the immobile flag.

getModel3D

public final javax.media.j3d.BranchGroup getModel3D()

Description copied from interface: Robot3D

Gets the model 3D of robot manipulator.

Specified by:

getModel3D in interface Robot3D

Returns:

the Java 3D model.

setQ3DOnly

public final void setQ3DOnly(RVector q)

Description copied from interface: Robot3D

Sets the position of the joints only of 3D model.

Specified by:

setQ3DOnly in interface Robot3D

Parameters:

q - the new positions.

setQ3DOnly

public final void setQ3DOnly(double[] q)

Description copied from interface: Robot3D

Sets the position of the joints only of 3D model.

Specified by:

setQ3DOnly in interface Robot3D

Parameters:

q - the new positions.

setQ3DOnly

public final void setQ3DOnly(double q,
                             int i)

Description copied from interface: Robot3D

Sets the position of the i-th joint only of 3D model.

Specified by:

setQ3DOnly in interface Robot3D

Parameters:

q - the new position.

i - the joint.

setQ3D

public final void setQ3D(RVector q)

Description copied from interface: Robot3D

Sets the position of the joints.

Specified by:

setQ3D in interface Robot3D

Parameters:

q - the new positions.

setQ3D

public final void setQ3D(double[] q)

Description copied from interface: Robot3D

Sets the position of the joints.

Specified by:

setQ3D in interface Robot3D

Parameters:

q - the new positions.

setQ3D

public final void setQ3D(double q,
                         int i)

Description copied from interface: Robot3D

Sets the position of the i-th joint.

Specified by:

setQ3D in interface Robot3D

Parameters:

q - the new position.

i - the joint.

getTransformMatrix

public RMatrix4d getTransformMatrix(int i)

Gets the 4x4 transformation matrix of i-th joint.

Specified by:

getTransformMatrix in interface Robot3D

Parameters:

i - the i-th joint;

Returns:

null (the homogeneous matrix.)