javax.robotics.engine.robots
Interface Robot

All Superinterfaces:

java.io.Serializable

All Known Subinterfaces:

Robot3D

All Known Implementing Classes:

DHRobot, DHRobot3D

public interface Robot
extends java.io.Serializable

This is an interface for kinematics and dynamics model of different open chain robot manipulators.

Example of use

The example Demo.java shows how to use Robot class in your java based application.

Since:

1.0.0

Version:

16/11/2005

Author:

Carmine Lia

Field Summary

static boolean	DEBUG
static int	HOMOGENEOUS_MATRIX_DIM
static int	INITMOTOR_DIM
static int	INITROBOT_DIM
static int	JACOBIAN_DIMENSION
static int	SPACE_DIM

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.

Field Detail

DEBUG

static final boolean DEBUG

See Also:

Constant Field Values

INITROBOT_DIM

static final int INITROBOT_DIM

See Also:

Constant Field Values

INITMOTOR_DIM

static final int INITMOTOR_DIM

See Also:

Constant Field Values

JACOBIAN_DIMENSION

static final int JACOBIAN_DIMENSION

See Also:

Constant Field Values

HOMOGENEOUS_MATRIX_DIM

static final int HOMOGENEOUS_MATRIX_DIM

See Also:

Constant Field Values

SPACE_DIM

static final int SPACE_DIM

See Also:

Constant Field Values

Method Detail

getID

short getID()

Gets Robot class ID

Returns:

ID

getRobotConfiguration

XmlRobot getRobotConfiguration()

Gets the robot configuration.

Returns:

the robot configuration.

getDof

int getDof()

Gets the degrees of freedom of robot.

Returns:

degrees of freedom of robot manipulator

getAvailableDof

int getAvailableDof()

Gets the available degrees of freedom of robot.

Returns:

the available degrees of freedom of robot manipulator

getQMax

RVector getQMax()

Gets joints maximum position.

Returns:

vector of joints maximum position.

getQMin

RVector getQMin()

Gets joints minimum position.

Returns:

vector of joints minimum position.

getQOffset

RVector getQOffset()

Gets joints offset position.

Returns:

vector of joints offset position.

getQ

RVector getQ()

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

Returns:

vector of joints position.

getQ

double getQ(int i)

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

Parameters:

i - joint

Returns:

joint position.

getQp

RVector getQp()

Gets joints velocity.

Returns:

vector of joints velocity

getQpp

RVector getQpp()

Gets joints acceleration.

Returns:

vector of joints acceleration

setQ

void setQ(RVector q)

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

Parameters:

q - vector of joints position

setQ

void setQ(double[] q)

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

Parameters:

q - vector of joints position

setQ

void setQ(double q,
          int i)

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

Parameters:

q - joint position

i - joint

setQp

void setQp(RVector qp)

Sets joints velocity.

Parameters:

qp - vector of joints velocity

setQp

void setQp(double[] qp)

Sets joints velocity.

Parameters:

qp - array of joints velocity

setQpp

void setQpp(RVector qpp)

Sets joints acceleration.

Parameters:

qpp - vector of joints position

setQpp

void setQpp(double[] qpp)

Sets joints acceleration.

Parameters:

qpp - the array of joints position

invKine

RVector invKine(RMatrix4d Tobj)

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

Parameters:

Tobj - homogeneous transform matrix

Returns:

joints position

invKine

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.

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

Matrix jacobian()

Computes the Jacobian matrix expressed in the base frame.

Returns:

jacobian matrix

jacobian

Matrix jacobian(int ref)

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

Parameters:

ref - frame reference

Returns:

jacobian matrix

jacobianDot

Matrix jacobianDot()

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

Returns:

jacobian time derivative matrix

jacobianDot

Matrix jacobianDot(int ref)

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

Parameters:

ref - frame reference

Returns:

jacobian time derivative matrix

jacobianDLSinv

Matrix jacobianDLSinv(double eps,
                      double lambdaMax)

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

Parameters:

eps - the area of singular region

lambdaMax - the maximum damping factor

Returns:

inverse jacobian matrix

kine

RMatrix4d kine()

Computes the solution of the Forward Kinematics Problem.

Returns:

homogeneous transform matrix

kine

RMatrix4d kine(int j)

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

Parameters:

j - link of forward kinematic

Returns:

homogeneous transform matrix

dTdqi

RMatrix4d dTdqi(int j)

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

Parameters:

j - joint

Returns:

homogeneous partial derivative transform

acceleration

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

Computes the solution of the Forward Dynamics Problem.

Parameters:

q - the vector joints position

qp - the vector joints velocity

tau - the vector joints torque

Returns:

the vector joints acceleration

acceleration

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

Computes the solution of the Forward Dynamics Problem.

Parameters:

q - array of joints position

qp - array of joints velocity

tau - array of joints torque

Returns:

the array of joints acceleration

acceleration

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.

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

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.

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

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

Computes the solution of the Inverse Dynamics Problem.

Parameters:

q - joints position

qp - joints velocity

qpp - joints acceleration

Returns:

joints torque

torque

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

Computes the solution of the Inverse Dynamics Problem.

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

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.

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

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.

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

RVector torqueGravity()

Computes the torques from the gravity effect.

Returns:

joints torque

torqueC

RVector torqueC(RVector qp)

Computes the torques from the Coriolis and centrifugal effect.

Parameters:

qp - joints velocity

Returns:

joints torque

torqueViscousFriction

RVector torqueViscousFriction(RVector qp)

Computes the torques from the viscous friction.

Parameters:

qp - joints velocity

Returns:

joints torque

torqueCoulombFriction

RVector torqueCoulombFriction(RVector qp)

Computes the torques from the Coulomb friction.

Parameters:

qp - joints velocity

Returns:

joints torque

inertia

Matrix inertia(RVector q)

Computes the inertia matrix.

Call C++ Robot method

 inertia(const ColumnVector &q)
 

Parameters:

q - joints position

Returns:

intertia matrix

getGravity

RVector3d getGravity()

Gets gravity vector.

Returns:

the gravity vector

setGravity

void setGravity(RVector3d g)

Sets the gravity vector.

Parameters:

g - the new gravity vector.