def cart_pole():
"""Generate Robot instance of classical CartPole dynamic system."""
# TODO: bring it to the new notation with 0-frame
robo = Robot("CartPole", 2, 2, 2, False)
robo.ant = (-1, 0, 1)
robo.sigma = (0, 1, 0)
robo.alpha = (0, pi / 2, pi / 2)
robo.d = (0, 0, 0)
robo.theta = (0, pi / 2, var("th2"))
robo.r = (0, var("r1"), 0)
robo.b = (0, 0, 0)
robo.gamma = (0, 0, 0)
robo.structure = tools.SIMPLE
robo.num = range(0, 3)
robo.Nex = [zeros(3, 1) for i in robo.num]
robo.Fex = [zeros(3, 1) for i in robo.num]
robo.FS = [0 for i in robo.num]
robo.IA = [0 for i in robo.num]
robo.FV = [var("FV{0}".format(i)) for i in robo.num]
robo.MS = [zeros(3, 1) for i in robo.num]
robo.MS[1][0] = var("MX2")
robo.M = [var("M{0}".format(i)) for i in robo.num]
robo.GAM = [var("GAM{0}".format(i)) for i in robo.num]
inertia_matrix_terms = ("XX{0}, XY{0}, XZ{0}, ") + ("XY{0}, YY{0}, YZ{0}, ") + ("XZ{0}, YZ{0}, ZZ{0}")
robo.J = [Matrix(3, 3, var(inertia_matrix_terms.format(i))) for i in robo.num]
robo.G = Matrix([0, 0, -var("G3")])
robo.w0 = zeros(3, 1)
robo.wdot0 = zeros(3, 1)
robo.v0 = zeros(3, 1)
robo.vdot0 = zeros(3, 1)
robo.q = [0, var("r1"), var("th2")]
robo.qdot = [0, var("r1d"), var("th2d")]
robo.qddot = [0, var("r1dd"), var("th2dd")]
return robo
def rx90():
"""Generate Robot instance of RX90"""
robo = Robot('RX90', 6, 6, 6, False)
# table of geometric parameters RX90
robo.sigma = [2, 0, 0, 0, 0, 0, 0, 0]
robo.alpha = [0, 0, pi/2, 0, -pi/2, pi/2, -pi/2]
robo.d = [0, 0, 0, var('D3'), 0, 0, 0]
robo.theta = [0] + list(var('th1:7'))
robo.r = [0, 0, 0, 0, var('RL4'), 0, 0]
robo.b = [0, 0, 0, 0, 0, 0, 0]
robo.gamma = [0, 0, 0, 0, 0, 0, 0]
robo.mu = [0, 1, 1, 1, 1, 1, 1]
robo.structure = tools.SIMPLE
# robo.w0 = zeros(3, 1)
# robo.wdot0 = zeros(3, 1)
# robo.v0 = zeros(3, 1)
# robo.vdot0 = zeros(3, 1)
# robo.qdot = [var('QP{0}'.format(i)) for i in num]
# robo.qddot = [var('QDP{0}'.format(i)) for i in num]
# robo.Nex= [zeros(3, 1) for i in num]
# robo.Nex[-1] = Matrix(var('CX{0}, CY{0}, CZ{0}'.format(robo.NJ)))
# robo.Fex = [zeros(3, 1) for i in num]
# robo.Fex[-1] = Matrix(var('FX{0}, FY{0}, FZ{0}'.format(robo.NJ)))
# robo.FS = [var('FS{0}'.format(i)) for i in num]
# robo.IA = [var('IA{0}'.format(i)) for i in num]
# robo.FV = [var('FV{0}'.format(i)) for i in num]
# robo.MS = [Matrix(var('MX{0}, MY{0}, MZ{0}'.format(i))) for i in num]
# robo.M = [var('M{0}'.format(i)) for i in num]
# robo.GAM = [var('GAM{0}'.format(i)) for i in num]
# robo.J = [Matrix(3, 3, var(('XX{0}, XY{0}, XZ{0}, '
# 'XY{0}, YY{0}, YZ{0}, '
# 'XZ{0}, YZ{0}, ZZ{0}').format(i))) for i in num]
# robo.G = Matrix([0, 0, var('G3')])
# robo.num.append(0)
return robo
def planar2r():
"""Generate Robot instance of 2R Planar robot"""
robo = Robot("Planar2R", 2, 2, 2, False)
robo.structure = tools.SIMPLE
robo.sigma = [2, 0, 0]
robo.mu = [0, 1, 1]
robo.gamma = [0, 0, 0]
robo.b = [0, 0, 0]
robo.alpha = [0, 0, 0]
robo.d = [0, 0, var("L1")]
robo.theta = [0, var("q1"), var("q2")]
robo.r = [0, 0, 0]
robo.num = range(0, 3)
robo.Nex = [zeros(3, 1) for i in robo.num]
robo.Fex = [zeros(3, 1) for i in robo.num]
robo.FS = [0 for i in robo.num]
robo.IA = [0 for i in robo.num]
robo.FV = [var("FV{0}".format(i)) for i in robo.num]
robo.MS = [Matrix(var("MX{0}, MY{0}, MZ{0}".format(i))) for i in robo.num]
robo.M = [var("M{0}".format(i)) for i in robo.num]
robo.GAM = [var("GAM{0}".format(i)) for i in robo.num]
inertia_matrix_terms = ("XX{0}, XY{0}, XZ{0}, ") + ("XY{0}, YY{0}, YZ{0}, ") + ("XZ{0}, YZ{0}, ZZ{0}")
robo.J = [Matrix(3, 3, var(inertia_matrix_terms.format(i))) for i in robo.num]
robo.G = Matrix([0, 0, -var("G3")])
robo.w0 = zeros(3, 1)
robo.wdot0 = zeros(3, 1)
robo.v0 = zeros(3, 1)
robo.vdot0 = zeros(3, 1)
robo.q = [0, var("q1"), var("q2")]
robo.qdot = [0, var("QP1"), var("QP2")]
robo.qddot = [0, var("QDP1"), var("QDP2")]
return robo
def rx90():
"""Generate Robot instance of RX90"""
robo = Robot('RX90', 6, 6, 6, False)
# table of geometric parameters RX90
robo.sigma = [2, 0, 0, 0, 0, 0, 0, 0]
robo.alpha = [0, 0, pi / 2, 0, -pi / 2, pi / 2, -pi / 2]
robo.d = [0, 0, 0, var('D3'), 0, 0, 0]
robo.theta = [0] + list(var('th1:7'))
robo.r = [0, 0, 0, 0, var('RL4'), 0, 0]
robo.b = [0, 0, 0, 0, 0, 0, 0]
robo.gamma = [0, 0, 0, 0, 0, 0, 0]
robo.mu = [0, 1, 1, 1, 1, 1, 1]
robo.structure = tools.SIMPLE
# robo.w0 = zeros(3, 1)
# robo.wdot0 = zeros(3, 1)
# robo.v0 = zeros(3, 1)
# robo.vdot0 = zeros(3, 1)
# robo.qdot = [var('QP{0}'.format(i)) for i in num]
# robo.qddot = [var('QDP{0}'.format(i)) for i in num]
# robo.Nex= [zeros(3, 1) for i in num]
# robo.Nex[-1] = Matrix(var('CX{0}, CY{0}, CZ{0}'.format(robo.NJ)))
# robo.Fex = [zeros(3, 1) for i in num]
# robo.Fex[-1] = Matrix(var('FX{0}, FY{0}, FZ{0}'.format(robo.NJ)))
# robo.FS = [var('FS{0}'.format(i)) for i in num]
# robo.IA = [var('IA{0}'.format(i)) for i in num]
# robo.FV = [var('FV{0}'.format(i)) for i in num]
# robo.MS = [Matrix(var('MX{0}, MY{0}, MZ{0}'.format(i))) for i in num]
# robo.M = [var('M{0}'.format(i)) for i in num]
# robo.GAM = [var('GAM{0}'.format(i)) for i in num]
# robo.J = [Matrix(3, 3, var(('XX{0}, XY{0}, XZ{0}, '
# 'XY{0}, YY{0}, YZ{0}, '
# 'XZ{0}, YZ{0}, ZZ{0}').format(i))) for i in num]
# robo.G = Matrix([0, 0, var('G3')])
# robo.num.append(0)
return robo
def rx90():
"""Generate Robot instance of RX90"""
robo = Robot("RX90", 6, 6, 6, False)
# table of geometric parameters RX90
robo.sigma = [2, 0, 0, 0, 0, 0, 0]
robo.alpha = [0, 0, pi / 2, 0, -pi / 2, pi / 2, -pi / 2]
robo.d = [0, 0, 0, var("D3"), 0, 0, 0]
robo.theta = [0] + list(var("th1:7"))
robo.r = [0, 0, 0, 0, var("RL4"), 0, 0]
robo.b = [0, 0, 0, 0, 0, 0, 0]
robo.gamma = [0, 0, 0, 0, 0, 0, 0]
robo.mu = [0, 1, 1, 1, 1, 1, 1]
robo.structure = tools.SIMPLE
robo.w0 = zeros(3, 1)
robo.wdot0 = zeros(3, 1)
robo.v0 = zeros(3, 1)
robo.vdot0 = zeros(3, 1)
num = range(0, 7)
robo.qdot = [var("QP{0}".format(i)) for i in num]
robo.qddot = [var("QDP{0}".format(i)) for i in num]
robo.Nex = [zeros(3, 1) for i in num]
robo.Nex[-1] = Matrix(var("CX{0}, CY{0}, CZ{0}".format(robo.NJ)))
robo.Fex = [zeros(3, 1) for i in num]
robo.Fex[-1] = Matrix(var("FX{0}, FY{0}, FZ{0}".format(robo.NJ)))
robo.FS = [var("FS{0}".format(i)) for i in num]
robo.IA = [var("IA{0}".format(i)) for i in num]
robo.FV = [var("FV{0}".format(i)) for i in num]
robo.MS = [Matrix(var("MX{0}, MY{0}, MZ{0}".format(i))) for i in num]
robo.M = [var("M{0}".format(i)) for i in num]
robo.GAM = [var("GAM{0}".format(i)) for i in num]
inertia_matrix_terms = ("XX{0}, XY{0}, XZ{0}, ") + ("XY{0}, YY{0}, YZ{0}, ") + ("XZ{0}, YZ{0}, ZZ{0}")
robo.J = [Matrix(3, 3, var(inertia_matrix_terms.format(i))) for i in num]
robo.G = Matrix([0, 0, var("G3")])
return robo
def planar2r():
"""Generate Robot instance of 2R Planar robot"""
robo = Robot('Planar2R', 2, 2, 3, False)
robo.structure = tools.SIMPLE
robo.sigma = [2, 0, 0, 2]
robo.mu = [0, 1, 1, 0]
robo.gamma = [0, 0, 0, 0]
robo.b = [0, 0, 0, 0]
robo.alpha = [0, 0, 0, 0]
robo.d = [0, 0, var('L1'), var('L2')]
robo.theta = [0, var('th1'), var('th2'), 0]
robo.r = [0, 0, 0, 0]
return robo
def planar2r():
"""Generate Robot instance of 2R Planar robot"""
robo = Robot('Planar2R', 2, 2, 3, False)
robo.structure = tools.SIMPLE
robo.sigma = [2, 0, 0, 2]
robo.mu = [0, 1, 1, 0]
robo.gamma = [0, 0, 0, 0]
robo.b = [0, 0, 0, 0]
robo.alpha = [0, 0, 0, 0]
robo.d = [0, 0, var('L1'), var('L2')]
robo.theta = [0, var('th1'), var('th2'), 0]
robo.r = [0, 0, 0, 0]
return robo
def sr400():
# TODO: bring it to the new notation with 0-frame
"""Generate Robot instance of SR400"""
robo = Robot("SR400", 8, 9, 10, False)
robo.ant = [-1, 0, 1, 2, 3, 4, 5, 1, 7, 8, 3]
robo.sigma = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 2]
robo.mu = [0, 1, 1, 0, 1, 1, 1, 1, 0, 0, 0]
robo.alpha = [0, 0, -pi / 2, 0, -pi / 2, pi / 2, -pi / 2, -pi / 2, 0, 0, 0]
d_var = var("D:9")
robo.d = [0, 0, d_var[2], d_var[3], d_var[4], 0, 0, d_var[2], d_var[8], d_var[3], -d_var[8]]
robo.theta = [0] + list(var("th1:10")) + [0]
robo.r = [0, 0, 0, 0, var("RL4"), 0, 0, 0, 0, 0, 0]
robo.b = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
robo.gamma = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, pi / 2]
robo.structure = tools.CLOSED_LOOP
return robo
def sr400():
#TODO: bring it to the new notation with 0-frame
"""Generate Robot instance of SR400"""
robo = Robot('SR400', 8, 9, 10, False)
robo.ant = [-1, 0, 1, 2, 3, 4, 5, 1, 7, 8, 3]
robo.sigma = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 2]
robo.mu = [0, 1, 1, 0, 1, 1, 1, 1, 0, 0, 0]
robo.alpha = [0, 0, -pi / 2, 0, -pi / 2, pi / 2, -pi / 2, -pi / 2, 0, 0, 0]
d_var = var('D:9')
robo.d = [
0, 0, d_var[2], d_var[3], d_var[4], 0, 0, d_var[2], d_var[8], d_var[3],
-d_var[8]
]
robo.theta = [0] + list(var('th1:10')) + [0]
robo.r = [0, 0, 0, 0, var('RL4'), 0, 0, 0, 0, 0, 0]
robo.b = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
robo.gamma = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, pi / 2]
robo.structure = tools.CLOSED_LOOP
return robo
def cart_pole():
"""Generate Robot instance of classical CartPole dynamic system."""
#TODO: bring it to the new notation with 0-frame
robo = Robot('CartPole', 2, 2, 2, False)
robo.ant = (-1, 0, 1)
robo.sigma = (0, 1, 0)
robo.alpha = (0, pi / 2, pi / 2)
robo.d = (0, 0, 0)
robo.theta = (0, pi / 2, var('th2'))
robo.r = (0, var('r1'), 0)
robo.b = (0, 0, 0)
robo.gamma = (0, 0, 0)
robo.structure = tools.SIMPLE
robo.num = range(0, 3)
robo.Nex = [zeros(3, 1) for i in robo.num]
robo.Fex = [zeros(3, 1) for i in robo.num]
robo.FS = [0 for i in robo.num]
robo.IA = [0 for i in robo.num]
robo.FV = [var('FV{0}'.format(i)) for i in robo.num]
robo.MS = [zeros(3, 1) for i in robo.num]
robo.MS[1][0] = var('MX2')
robo.M = [var('M{0}'.format(i)) for i in robo.num]
robo.GAM = [var('GAM{0}'.format(i)) for i in robo.num]
inertia_matrix_terms = ("XX{0}, XY{0}, XZ{0}, ") + \
("XY{0}, YY{0}, YZ{0}, ") + \
("XZ{0}, YZ{0}, ZZ{0}")
robo.J = [
Matrix(3, 3, var(inertia_matrix_terms.format(i))) \
for i in robo.num
]
robo.G = Matrix([0, 0, -var('G3')])
robo.w0 = zeros(3, 1)
robo.wdot0 = zeros(3, 1)
robo.v0 = zeros(3, 1)
robo.vdot0 = zeros(3, 1)
robo.q = [0, var('r1'), var('th2')]
robo.qdot = [0, var('r1d'), var('th2d')]
robo.qddot = [0, var('r1dd'), var('th2dd')]
return robo
def cart_pole():
"""Generate Robot instance of classical CartPole dynamic system."""
#TODO: bring it to the new notation with 0-frame
robo = Robot()
robo.name = 'CartPole'
robo.ant = (-1, 0)
robo.sigma = (1, 0)
robo.alpha = (pi/2, pi/2)
robo.d = (0, 0)
robo.theta = (pi/2, var('Th2'))
robo.r = (var('R1'), 0)
robo.b = (0, 0)
robo.gamma = (0, 0)
robo.num = range(1, 3)
robo.NJ = 2
robo.NL = 2
robo.NF = 2
robo.Nex = [zeros(3, 1) for i in robo.num]
robo.Fex = [zeros(3, 1) for i in robo.num]
robo.FS = [0 for i in robo.num]
robo.IA = [0 for i in robo.num]
robo.FV = [var('FV{0}'.format(i)) for i in robo.num]
robo.MS = [zeros(3, 1) for i in robo.num]
robo.MS[1][0] = var('MX2')
robo.M = [var('M{0}'.format(i)) for i in robo.num]
robo.GAM = [var('GAM{0}'.format(i)) for i in robo.num]
robo.J = [zeros(3) for i in robo.num]
robo.J[1][2, 2] = var('ZZ2')
robo.G = Matrix([0, 0, -var('G3')])
robo.w0 = zeros(3, 1)
robo.wdot0 = zeros(3, 1)
robo.v0 = zeros(3, 1)
robo.vdot0 = zeros(3, 1)
robo.q = var('R1, Th2')
robo.qdot = var('R1d, Th2d')
robo.qddot = var('R1dd, Th2dd')
robo.num.append(0)
return robo
def cart_pole():
"""Generate Robot instance of classical CartPole dynamic system."""
#TODO: bring it to the new notation with 0-frame
robo = Robot()
robo.name = 'CartPole'
robo.ant = (-1, 0)
robo.sigma = (1, 0)
robo.alpha = (pi / 2, pi / 2)
robo.d = (0, 0)
robo.theta = (pi / 2, var('Th2'))
robo.r = (var('R1'), 0)
robo.b = (0, 0)
robo.gamma = (0, 0)
robo.num = range(1, 3)
robo.NJ = 2
robo.NL = 2
robo.NF = 2
robo.Nex = [zeros(3, 1) for i in robo.num]
robo.Fex = [zeros(3, 1) for i in robo.num]
robo.FS = [0 for i in robo.num]
robo.IA = [0 for i in robo.num]
robo.FV = [var('FV{0}'.format(i)) for i in robo.num]
robo.MS = [zeros(3, 1) for i in robo.num]
robo.MS[1][0] = var('MX2')
robo.M = [var('M{0}'.format(i)) for i in robo.num]
robo.GAM = [var('GAM{0}'.format(i)) for i in robo.num]
robo.J = [zeros(3) for i in robo.num]
robo.J[1][2, 2] = var('ZZ2')
robo.G = Matrix([0, 0, -var('G3')])
robo.w0 = zeros(3, 1)
robo.wdot0 = zeros(3, 1)
robo.v0 = zeros(3, 1)
robo.vdot0 = zeros(3, 1)
robo.q = var('R1, Th2')
robo.qdot = var('R1d, Th2d')
robo.qddot = var('R1dd, Th2dd')
robo.num.append(0)
return robo
def planar2r():
"""Generate Robot instance of 2R Planar robot"""
robo = Robot('Planar2R', 2, 2, 2, False)
robo.structure = tools.SIMPLE
robo.sigma = [2, 0, 0]
robo.mu = [0, 1, 1]
robo.gamma = [0, 0, 0]
robo.b = [0, 0, 0]
robo.alpha = [0, 0, 0]
robo.d = [0, 0, var('L1')]
robo.theta = [0, var('q1'), var('q2')]
robo.r = [0, 0, 0]
robo.num = range(0, 3)
robo.Nex = [zeros(3, 1) for i in robo.num]
robo.Fex = [zeros(3, 1) for i in robo.num]
robo.FS = [0 for i in robo.num]
robo.IA = [0 for i in robo.num]
robo.FV = [var('FV{0}'.format(i)) for i in robo.num]
robo.MS = [Matrix(var('MX{0}, MY{0}, MZ{0}'.format(i))) for i in robo.num]
robo.M = [var('M{0}'.format(i)) for i in robo.num]
robo.GAM = [var('GAM{0}'.format(i)) for i in robo.num]
inertia_matrix_terms = ("XX{0}, XY{0}, XZ{0}, ") + \
("XY{0}, YY{0}, YZ{0}, ") + \
("XZ{0}, YZ{0}, ZZ{0}")
robo.J = [
Matrix(3, 3, var(inertia_matrix_terms.format(i))) \
for i in robo.num
]
robo.G = Matrix([0, 0, -var('G3')])
robo.w0 = zeros(3, 1)
robo.wdot0 = zeros(3, 1)
robo.v0 = zeros(3, 1)
robo.vdot0 = zeros(3, 1)
robo.q = [0, var('q1'), var('q2')]
robo.qdot = [0, var('QP1'), var('QP2')]
robo.qddot = [0, var('QDP1'), var('QDP2')]
return robo