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OSCAR::FKPositionMitsubishi Class Reference
[ForwardKinematics]

This class contains the ForwardKinematics interface for a Mitsubishi manipulator. More...

#include <FKPositionMitsubishiPA-10.h>

Inheritance diagram for OSCAR::FKPositionMitsubishi:

Inheritance graph
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List of all members.

Public Methods

 FKPositionMitsubishi (const String &dhParameterFileName, OSCARError &err=DUMMY_ERROR(noError), const String &name=String(""))
 FKPositionMitsubishi (const DHData &DHparams, OSCARError &err=DUMMY_ERROR(noError), const String &name=String(""))
 FKPositionMitsubishi (const FKPositionMitsubishi &fkp)
FKPositionMitsubishi & operator= (const FKPositionMitsubishi &fkp)
const Xform * GetHandPose (const Vector &inputVector)
virtual ~FKPositionMitsubishi ()

Protected Attributes

double d3
double d5
Xform linkToBase

Detailed Description

Author:
Chetan Kapoor

Constructor & Destructor Documentation

OSCAR::FKPositionMitsubishi::FKPositionMitsubishi (  const String &    dhParameterFileName,
OSCARError &    err = DUMMY_ERROR(noError),
const String &    name = String("")
) 
 

Constructor.

This is the constructor for an object of type FKMitsubishi. Use this to construct an FKMitsubishi object.

Parameters:
dhParameterFileName The name of a file that contains the DH parameters for the Mitsubishi PA-10 &C robot. This file should specify a 7 DOF robot in the standard Mitsubishi PA10-7C geometry. The standard Mitsubishi DH parameters are listed below. You can only change the values of the d(i) column.
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# This is a DH parameter file for a Mitsubishi PA-10 7 DOF robot. # The variable is specified by typing a "var' or a "VAR" in its # field. i.e. If the joint is revolute then it will be in the fourth # coulumn and if the joint is prismatic it will be in the third column # The notation is based on the "Introduction to Robotics, Mechanics and Controls" # book by John Craig.Units are in mm and degrees.

# The word below should specify the format of the DH Parameters (Craig or Featherstone) Craig
# Alpha(i-1) a(i-1) d(i) theta(i)
0 0 0 var # link 0-1
-90 0 0 var # link 1-2
90 0 450 var # link 2-3
-90 0 0 var # link3-4
90 0 480 var # link 4-5
-90 0 0 var # link 5-6
90 0 0 var # link6-7

# Note: The tool point for this robot is at approximately [0, 0, 70] at the tool plate # expressed in the last joints DH frame

Parameters:
err OSCARError pointer that holds the value of the error code that was generated when the constructor was called. If this error was not 'noError' you can call GetError() to get the details of the error code.
name Name assigned to object

OSCAR::FKPositionMitsubishi::FKPositionMitsubishi (  const DHData &    DHparams,
OSCARError &    err = DUMMY_ERROR(noError),
const String &    name = String("")
) 
 

Constructor.

Constructor for FKPositionMitsubishi

Parameters:
DHparams An DHData object that holds the DH parameters for the Mitsubishi robot in whose forward position solution needs to be computed. It is assumed that the geometry specified in the DH params is that of a Mitsubishi 560 robot. The only information that will be pulled out of the DH parameters supplied will be the link lengths.
err OSCARError pointer that holds the value of the error code that was generated when the constructor was called. If this error was not 'noError' you can call GetError() to get the details of the error code.
name Name assigned to object

OSCAR::FKPositionMitsubishi::FKPositionMitsubishi (  const FKPositionMitsubishi &    fkp ) 
 

A Const Reference constructor for FKPositionMitsubishi.

Parameters:
fkp An FKPositionMitsubishi object that will be used to initialize this new object.

virtual OSCAR::FKPositionMitsubishi::~FKPositionMitsubishi (    )  [inline, virtual]
 

Member Function Documentation

const Xform* OSCAR::FKPositionMitsubishi::GetHandPose (  const Vector &    inputVector )  [virtual]
 

This method overrides the base class method. This class basically exists so that a closed form solution could be used.

Returns:
A const pointer to an Xform that holds the tool point (or last link) transformation matrix expressed in the base frame. If there is an error in this method a 0 should be returned.
Parameters:
inputVector A vector containing the joint angles (in radians) or joint positions at which the forward position solution needs to be computed. The size of this vector should be equal to the DOF of the robot. If this is not the case, a 0 is returned. Call GetError() to get detailed error information.
Exceptions:
argumentSizeMismatch argumentSizeMismatch

Implements OSCAR::FKPositionBase.

Reimplemented in OSCAR::FKJacobianMitsubishi.

FKPositionMitsubishi& OSCAR::FKPositionMitsubishi::operator= (  const FKPositionMitsubishi &    fkp ) 
 

= operator. Used for copying objects of type FKPositionMitsubishi

Returns:
A reference to the object on the left hand side of the = operator
Parameters:
fkp An FKPositionMitsubishi object that goes on the right hand side of the = operator

Member Data Documentation

double OSCAR::FKPositionMitsubishi::d3 [protected]
 

double OSCAR::FKPositionMitsubishi::d5 [protected]
 

Xform OSCAR::FKPositionMitsubishi::linkToBase [protected]
 

The documentation for this class was generated from the following file:
RRG Homepage OSCAR Overview OSCAR Tutorials Simulations