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Indy APIs

회전행렬, 동차변환행렬, 순기구학, 역기구학 등 로봇의 기구학에 관한 인터페이스에서 부터 및 순동역학, 역동역학, 기본 제어기 등 로봇의 동역학에 관한 인터페이스까지 로봇 제어에 활용할 수 있는 다양한 기능들을 포함하고 있으며 "../NRMKFramework/Components/AbstractRobot6D.h" (IndyRP2의 경우 "AbstractRobot7D")에서 자세한 항목들을 찾아 볼 수 있다.

[순기구학: computeFK]

  • AbstractRobot6D::computeFK
  • Compute the task position and task velocity (optionally) from robot pose.
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void computeFK(TaskPosition & pos)
void computeFK(TaskPosition & pos, TaskVelocity & vel)

Parameters:

  • TaskPosition: Construct a task position from homogeneous transformation (LieGroup::HTransform)
  • TaskVelocity: Construct a task velocity from twist (LieGroup::Twist)

[자코비안: computeJacobian]

  • AbstractRobot6D::computeJacobian
  • Compute the task position, task velocity, task Jacobian, and task Jacobian derivative.
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void computeJacobian(TaskPosition & pos, TaskVelocity & vel,
                     TaskJacobian & J, TaskJacobian & Jdot)

Parameters:

  • J, Jdot: "Task Jacobian" and its time derivative, respectively
  • TaskPosition: Construct a task position from homogeneous transformation (LieGroup::HTransform)
  • TaskVelocity: Construct a task velocity from twist (LieGroup::Twist)
  • TaskJacobian: 6 by 6 matrix (Eigen::Matrix)

[역동역학: idyn]

  • AbstractRobot6D::idyn
  • Implement the recursive Newton-Euler method without gravity (optionally with gravity) for a given joint velocity and acceleration vector
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void idyn(JointVec const & qdot, JointVec const & qddot)
void idyn(JointVec const & qdot, JointVec const & qddot, LieGroup::Vector3D const & gacc)

Parameters

  • qdot: Array of the joint velocity values
  • qddot: Array of the joint acceleration values
  • gacc: Gravitation acceleration vector

[수동적 역동역학: idyn_passive]

  • AbstractRobot6D::idyn_passive
  • Implement the recursive passivity-based Newton-Euler method without gravity (optionally with gravity) for a given joint velocity and acceleration vector
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void idyn_passive(JointVec const & qdot, JointVec const & qddot);
void idyn_passive(JointVec const & qdot, JointVec const & qddot, LieGroup::Vector3D const & gacc)

Parameters

  • qdot: Array of the joint reference velocity values
  • qddot: Array of the joint acceleration values
  • gacc: Gravitation acceleration vector

[중력: idyn_gravity]

  • AbstractRobot6D::idyn_gravity
  • Implement the recursive Newton-Euler method for gravitation for a given joint position
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void idyn_gravity(LieGroup::Vector3D const & gacc);

Parameters

  • gacc: Gravitation acceleration vector

[운동량: idyn_momentum]

  • AbstractRobot6D::idyn_momentum
  • Implement the recursive Newton-Euler method for momentum computation for a given joint acceleration vector.
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void idyn_momentum(JointVec const & qddot)

Parameters:

  • qddot: Array of the joint acceleration values

[동역학 파라미터:computeDynamicsParams]

  • AbstractRobot6D::computeDynamicsParams
  • Compute the task position, task velocity, task Jacobian, and task Jacobian derivative.
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void computeDynamicsParams(LieGroup::Vector3D const & gravDir, JointMat & M,
JointMat & C, JointVec & G)

Parameters:

  • M: Inertia matrix
  • C: Coriolis and centrifugal matrix
  • G: Gravity force vector
  • gravDir: Direction of gravity force

[어드미턴스 궤적 생성: updateAdmitancTraj]

  • Calculate the desired trajectory based on a virtual physical proxy with the inertia, floating on 3D space
  • Use F/T sensor values to apply the external forces to a virtual proxy

Reset admittance trajectory:

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void resetAdmittanceTraj(double delT)

Parameters:

  • delT: Sampling time

Update admittance trajectory:

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void updateAdmittanceTraj(TaskPosition const & posDes, TaskVelocity const & velDes,
                        TaskAcceleration const & accDes, TaskPosition & tposProxy,
                        TaskVelocity & tvelProxy, TaskAcceleration & taccProxy,
                        LieGroup::Wrench f_ext, LieGroup::Wrench f_ext_filtered, int mode)

Parameters:

  • TaskPosition: Construct a task position from homogeneous transformation (LieGroup::HTransform)
  • TaskVelocity: Construct a task velocity from twist (LieGroup::Twist)
  • TaskAcceleration: Construct a task acceleration from twist (LieGroup::Twist)
  • posDes: Desired position trajectory calculated from interpolator
  • velDes: Desired velocity trajectory calculated from interpolator
  • accDes: Desired acceleration trajectory calculated from interpolator
  • tposProxy: Proxy's desired position trajectory
  • tvelProxy: Proxy's desired velocity trajectory
  • taccproxy: Proxy's desired acceleration trajectory
  • mode: 0 - not applied; 1 - applied for displacement; 2 - applied for rotation

[순동역학 위치제어: FowardDynController]

  • AbstractRobot6D::ForwardDynController
  • Provide "Forward Dynamic Controller" which uses "Jacobian Transpose" method in the task-space position control. It guarantees singularity-free task-space control.

Initialization and reset of Forward Dynamic Controller:

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void initForwardDynController(double delT)
void resetForwardDynController()

Parameters:

  • delT: Sampling time

Control gain settings of Forward Dynamic Controller:

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void setForwardDynControlGain(JointVec const & kp, JointVec const & kv,
                              JointVec const & ki)

Parameters:

  • kp, kv, ki: Position, velocity, and integral control gain, respectively

Forwad Dynamic Controller:

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void ForwardDynController(AbstractRobot6D & robotNom, JointMat & Mn, JointMat
                          & Cn, JointVec & Gn, TaskPosition const & posDes,
                          TaskVelocity const & velDes, LieGroup::Vector3D
                          const & gravDir)

Parameters:

  • AbstractRobot6D: 6 degree-of-freedom (DOF) robot class which includes its states and API functions as members
  • TaskPosition: Construct a task position from homogeneous transformation (LieGroup::HTransform)
  • TaskVelocity: Construct a task velocity from twist (LieGroup::Twist)
  • TaskAcceleration: Construct a task acceleration from twist (LieGroup::Twist)
  • JointMat: 6 by 6 matrix (Eigen::Matrix)
  • robotNom: Nominal (or Simulated) robot
  • Mn: Inertia matrix of nominal robot
  • Cn: Coriolis and centrifugal matrix of nominal robot
  • Gn: Gravity force vector of nominal robot
  • PosDes, velDes: Desired position and velocity, respectively

[위치제어기: HinfController]

  • AbstractRobot6D::HinfController
  • Provide H-infinity position controller which is the fundamental position controller of Neuromeka's Indy7

Initialization and reset of H-infinity controller:

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void initHinfController(double delT)
void resetHinfController()

Parameters:

  • delT: Sampling time

Control gain settings of H-infinity controller:

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void setHinfControlGain(const JointVec &kp, const JointVec &kv, const JointVec &ki)

Parameters:

  • kp, kv, ki: Position, velocity, integral control gains, respectively

Joint-space H-infinity controller and task-space H-infinity controller:

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int HinfController(LieGroup::Vector3D const & gravDir, JointVec const & qd,
                  JointVec const & qdotd, JointVec const & qddotd)
int HinfController(LieGroup::Vector3D const & gravDir, TaskPosition const & pd,
                  TaskVelocity const & pdotd, TaskAcceleration const & pddotd)

Parameters:

  • qd, qdotd, qddotd: Desired joint position, joint velocity, and joint acceleration, respectively
  • pd, pdotd, pddotd: Desired task position, task velocity, and task acceleration, respectively
  • gravDir: Direction of gravity force

[타겟 좌표 설정: setTtarget]

  • AbstractRobot6D::setTtarget
  • Setting the HTransform matrix from last joint to TCP
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void setTtarget(LieGroup::Rotation const & R, LieGroup::Displacement const & r)

Parameters:

  • R: Rotation matrix from last joint to TCP
  • r: Displacement vector from last joint to TCP

[참조 좌표계 설정: setTReference]

  • AbstractRobot6D::setTReference
  • Setting the HTransform matrix from global origin to Robot origin
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void setTReference(LieGroup::Rotation const & R, LieGroup::Displacement const & r)

Parameters:

  • R: Rotation matrix from global origin to Robot origin
  • r: Displacement vector from global origin to Robot origin

[6축 힘센서 좌표계 설정: setTFTSensor]

  • AbstractRobot6D::setTFTSensor
  • Setting the HTransform matrix from TCP to F/T sensor frame
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void setTFTSensor(LieGroup::Rotation const & R, LieGroup::Displacement const & r)

Parameters:

  • R: Rotation matrix from global origin to Robot origin
  • r: Displacement vector from global origin to Robot origin

[툴 속성 설정]

  • AbstractRobot6D::toolWeight, toolXcom, toolYcom, toolZcom
  • Return the tool information such as tool weight and tool position.
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double const & toolWeight()
double & toolWeight()

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double const & toolXcom()
double & toolXcom()

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double const & toolYcom()
double & toolYcom()

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double const & toolZcom()
double & toolZcom()

[홈 위치 출력: qhome]

  • AbstractRobot6D::qhome
  • Return the current home position.
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JointVec const & qhome()
JointVec & qhome()