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OSCAR::IKPuma Class Reference
[InverseKinematics]

IKPuma Implements a closed form solution for a standard Puma Robot. More...

#include <IKPuma.h>

Inheritance diagram for OSCAR::IKPuma:

[legend]List of all members.


Public Methods
	IKPuma (const String &dhParameterFileName, OSCARError &err=DUMMY_ERROR(noError), const String &name=String(""))
	IKPuma (const DHData &dhData, OSCARError &err=DUMMY_ERROR(noError), const String &name=String(""))
	IKPuma (const IKPuma &rhs)
virtual	~IKPuma ()
bool	GetJointPosition (const Xform &handXform, JointVector &jointPositionSolution)
bool	GetJointPosition (const HandPose &handPose, JointVector &jointPositionSolution)
void	SetClosure (bool leftShoulder, bool elbowDown)
void	GetClosure (bool &leftShoulder, bool &elbowDown)
IKPuma &	operator= (const IKPuma &rhs)
Protected Attributes
double	a2
double	d4
double	d3
double	a3
bool	leftShoulder
bool	elbowDown

Detailed Description

Author:: Chetan Kapoor

This class can be further extended to support tool point and base pose functionality by deriving from Kinematics

Constructor & Destructor Documentation

OSCAR::IKPuma::IKPuma ( const String & dhParameterFileName,

OSCARError & err = DUMMY_ERROR(noError),

const String & name = String("")

)

Constructor.
This is the constructor for an object of type IKPuma. Use this to construct an IKPuma object.
Parameters:

dhParameterFileName The name of a file that contains the DH parameters for the Puma robot. This file should specify a 6 DOF robot in the standard puma geometry. The standard Puma DH parameters are listed below. You can only change the values of a(i-1) columns and the d(i) column.

-----------------------------------------------------------------------------------------
# This is a DH parameter file for a Puma 760 6 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 below are degrees and mm
# 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

0 650 200 var # link 2-3

-90 0 690 var # link 3-4

90 0 0 var # link 4-5

-90 0 0 var # link 5-6

# Note: The tool point for this robot is at approximately [0, 0, 180] at the tool plate # expressed in the last joints DH frame
-----------------------------------------------------------------------------------------
Parameters:

err An OSCARError reference 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 to assign to the object. Default is " "

Exceptions:

dhParamsIllFormed dhParamsIllFormed Call GetError() for more information.

fileOpenError fileOpenError Call GetError() for more information.

OSCAR::IKPuma::IKPuma ( const DHData & dhData,

OSCARError & err = DUMMY_ERROR(noError),

const String & name = String("")

)

Constructor.
This is the constructor for an object of type IKPuma. Use this to construct an IKPuma object.
Parameters:

dhData An DHData object that contains the DH parameters for the Puma robot. This object should specify a 6 DOF robot in the standard puma geometry. The standard Puma DH parameters are listed below. You can only change the values of a(i-1) columns and the d(i) column.

err An OSCARError reference 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 to assign to the object. Default is " "

Exceptions:

dhParamsIllFormed dhParamsIllFormed Call GetError() for more information.

OSCAR::IKPuma::IKPuma ( const IKPuma & rhs )

Copy Constructor.
This is the Copy Constructor for an object of type IKPuma. Use this to construct an IKPuma object from an existing IKPuma object.
Parameters:

rhs An IKPuma object that will be used to initialize this new object.

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

Destructor.
This is the Destructor for an object of type IKPuma.

Member Function Documentation

void OSCAR::IKPuma::GetClosure ( bool & leftShoulder,

bool & elbowDown

)

Get the kinematic closure for the inverse solution.
This method is used to get the closure that has been set for the inverse position solution
Parameters:

leftShoulder A true indicates that the solution is set for a left shoulder solution while a false indicates that it is set for a right shoulder solution

elbowDown A true value indicates that the solution is set for a elbow down solution while a false indicates that it is set for an elbow up solution

See also:
SetClosure(bool leftShoulder, bool elbowDown)

bool OSCAR::IKPuma::GetJointPosition ( const HandPose & handPose,

JointVector & jointPositionSolution

) [virtual]

Computes the closed-form inverse position solution for the last link (or tool point) of a robot. Note: Since this is closed-form it will ignore the active/inactive status on the joint vector.

Parameters:

handPose A 6 long vector that that specifies the end-effector position and orientation (as FixedXYZ angles) for which an inverse solution needs to be calculated.

jointPositionSolution A JointVector of size equal to DOF of the robot. On return, this vector will contain the the inverse position solution.

Returns:
True if successful. Otherwise False. Call GetError() to get detailed error information.

See also:
GetJointPosition(const Xform& handXform, Vector& jointPositionSolution)

Implements OSCAR::IKPosition.

bool OSCAR::IKPuma::GetJointPosition ( const Xform & handXform,

JointVector & jointPositionSolution

) [virtual]

Computes the closed-form inverse position solution for the last link (or tool point) of a robot. Note: Since this is closed-form it will ignore the active/inactive status on the joint vector.

Parameters:

handXform A 4X4 transformation matrix that specifies the end-effector position and orientation for which an inverse solution needs to be calculated.

jointPositionSolution A JointVector of size equal to DOF of the robot. On return, this vector will contain the the inverse position solution.

Returns:
True if successful. Otherwise False. Call GetError() to get detailed error information.

See also:
GetJointPosition(const HandPose& handPose, Vector& jointPositionSolution)

Implements OSCAR::IKPosition.

IKPuma& OSCAR::IKPuma::operator= ( const IKPuma & rhs )

Assignment Operator.
This is the Assignment Operator for an object of type IKPuma.
Parameters:

rhs A IKPuma object that goes on the right hand side of the = operator

Returns:
A reference to the object on the left hand side of the = operator

void OSCAR::IKPuma::SetClosure ( bool leftShoulder,

bool elbowDown

)

Set the kinematics closure for the inverse solution.
This method is used to select whether you desire a left shoulder or right shoulder solution, or a elbow up or elbow down solution, or a wrist flip or wrist no flip solution
Parameters:

leftShoulder A true value will set the inverse position solution to generate a left shoulder solution. This also will switch the value of the elbow closure

elbowDown A true value will set the inverse position solution to generate an elbow down solution while a false value will generate an elbow up solution

See also:
GetClosure(bool& leftShoulder, bool& elbowDown)