def ospace(robot, q, qd): q = mat(q) qd = mat(qd) M = inertia(robot, q) C = coriolis(robot, q, qd) g = gravload(robot, q) J = jacob0(robot, q) Ji = inv(J) print 'Ji\n',Ji,'\n\n' print 'J\n',J,'\n\n' print 'M\n',M,'\n\n' print 'C\n',C,'\n\n' print 'g\n',g,'\n\n' Lambda = Ji.T*M*Ji mu = J.T*C - Lamba*H*qd p = J.T*g return Lambda, mu, p
def ospace(robot, q, qd): q = mat(q) qd = mat(qd) M = inertia(robot, q) C = coriolis(robot, q, qd) g = gravload(robot, q) J = jacob0(robot, q) Ji = inv(J) print 'Ji\n', Ji, '\n\n' print 'J\n', J, '\n\n' print 'M\n', M, '\n\n' print 'C\n', C, '\n\n' print 'g\n', g, '\n\n' Lambda = Ji.T * M * Ji mu = J.T * C - Lamba * H * qd p = J.T * g return Lambda, mu, p
print 'fkine(stanf,q5)\n' print fkine(stanf, q5), '\n\n' print 'fkine(stanf,[1,2,1,0,2,3])\n' print fkine(stanf, [1, 2, 1, 0, 2, 3]), '\n\n' print '\t\t\t***Test for Jacobian***\n' print 'J1 = jacobn(stanf,[1,2,1,0,2,3])\n' J1 = jacobn(stanf, [1, 2, 1, 0, 2, 3]) print J1, '\n\n' print 'J2 = jacobn(p560m,[1,0,3,-3,0,1])\n' J2 = jacobn(p560m, [1, 0, 3, -3, 0, 1]) print J2, '\n\n' print 'J3 = jacobn(p560,[1,0,3,-3,0,1])\n' J3 = jacobn(p560, [1, 0, 3, -3, 0, 1]) print J3, '\n\n' print 'J01 = jacob0(stanf,[1,2,1,0,2,3])\n' J01 = jacob0(stanf, [1, 2, 1, 0, 2, 3]) print J01, '\n\n' print 'J02 = jacob0(p560m,[1,0,3,-3,0,1])\n' J02 = jacob0(p560m, [1, 0, 3, -3, 0, 1]) print J02, '\n\n' print 'J03 = jacob0(p560,[1,0,3,-3,0,1])\n' J03 = jacob0(p560, [1, 0, 3, -3, 0, 1]) print J03, '\n\n' print '\t\t\t***Trajectory Test***\n' print 'Joint trajectory' print 'qj,qdj,qddj = jtraj([0,0,0,0,0,0],[pi/2, pi/4, -3*pi/5, 4*pi/6, 0, 1], 5)\n' qj, qdj, qddj = jtraj([0, 0, 0, 0, 0, 0], [pi / 2, pi / 4, -3 * pi / 5, 4 * pi / 6, 0, 1], 5) print 'qj:\n', qj, '\n\nqdj:\n', qdj, '\n\nqddj:\n', qddj, '\n\n' print 'Cartesian trajectory' print 'tt = ctraj(fkine(p560m,[0,0,0,0,0,0]), fkine(p560m,[pi/2,pi/4,-3*pi/4,-pi/8,0,1]), 5)\n'
print 'fkine(stanf,q5)\n' print fkine(stanf,q5),'\n\n' print 'fkine(stanf,[1,2,1,0,2,3])\n' print fkine(stanf,[1,2,1,0,2,3]),'\n\n' print '\t\t\t***Test for Jacobian***\n' print 'J1 = jacobn(stanf,[1,2,1,0,2,3])\n' J1 = jacobn(stanf,[1,2,1,0,2,3]) print J1,'\n\n' print 'J2 = jacobn(p560m,[1,0,3,-3,0,1])\n' J2 = jacobn(p560m,[1,0,3,-3,0,1]) print J2,'\n\n' print 'J3 = jacobn(p560,[1,0,3,-3,0,1])\n' J3 = jacobn(p560,[1,0,3,-3,0,1]) print J3,'\n\n' print 'J01 = jacob0(stanf,[1,2,1,0,2,3])\n' J01 = jacob0(stanf,[1,2,1,0,2,3]) print J01,'\n\n' print 'J02 = jacob0(p560m,[1,0,3,-3,0,1])\n' J02 = jacob0(p560m,[1,0,3,-3,0,1]) print J02,'\n\n' print 'J03 = jacob0(p560,[1,0,3,-3,0,1])\n' J03 = jacob0(p560,[1,0,3,-3,0,1]) print J03,'\n\n' print '\t\t\t***Trajectory Test***\n' print 'Joint trajectory' print 'qj,qdj,qddj = jtraj([0,0,0,0,0,0],[pi/2, pi/4, -3*pi/5, 4*pi/6, 0, 1], 5)\n' qj,qdj,qddj = jtraj([0,0,0,0,0,0],[pi/2, pi/4, -3*pi/5, 4*pi/6, 0, 1], 5) print 'qj:\n',qj,'\n\nqdj:\n',qdj,'\n\nqddj:\n',qddj,'\n\n' print 'Cartesian trajectory' print 'tt = ctraj(fkine(p560m,[0,0,0,0,0,0]), fkine(p560m,[pi/2,pi/4,-3*pi/4,-pi/8,0,1]), 5)\n' tt = ctraj(fkine(p560m,[0,0,0,0,0,0]), fkine(p560m,[pi/2,pi/4,-3*pi/4,-pi/8,0,1]), 5)