Ejemplo n.º 1
0
 def compute_pseudotorques(self):
     """
     Compute Coriolis, Centrifugal, Gravity, Friction and external
     torques using Newton-Euler algortihm.
     """
     pseudo_robo = copy.deepcopy(self)
     pseudo_robo.qddot = zeros(pseudo_robo.NL, 1)
     symo = symbolmgr.SymbolManager()
     symo.file_open(self, 'ccg')
     title = "Pseudo forces using Newton-Euler Algorithm\n"
     if 1 in pseudo_robo.eta:
         # with flexible joints
         title = title + "Robot with flexible joints\n"
         symo.write_params_table(self, title, inert=True, dynam=True)
         nealgos.flexible_inverse_dynmodel(pseudo_robo, symo)
     elif pseudo_robo.is_floating:
         # with rigid joints and floating base
         title = title + "Robot with rigid joints and floating base\n"
         symo.write_params_table(self, title, inert=True, dynam=True)
         nealgos.composite_inverse_dynmodel(pseudo_robo, symo)
     elif pseudo_robo.is_mobile:
         # mobile robot with rigid joints - known base acceleration
         title = title + "Robot with mobile base (Vdot0 is known)\n"
         symo.write_params_table(self, title, inert=True, dynam=True)
         nealgos.mobile_inverse_dynmodel(pseudo_robo, symo)
     else:
         # with rigid joints and fixed base
         title = title + "Robot with rigid joints and fixed base\n"
         symo.write_params_table(self, title, inert=True, dynam=True)
         nealgos.fixed_inverse_dynmodel(pseudo_robo, symo)
     symo.file_close()
     return symo
Ejemplo n.º 2
0
 def compute_pseudotorques(self):
     """
     Compute Coriolis, Centrifugal, Gravity, Friction and external
     torques using Newton-Euler algortihm.
     """
     pseudo_robo = copy.deepcopy(self)
     pseudo_robo.qddot = zeros(pseudo_robo.NL, 1)
     symo = symbolmgr.SymbolManager()
     symo.file_open(self, 'ccg')
     title = "Pseudo forces using Newton-Euler Algorithm\n"
     if 1 in pseudo_robo.eta:
         # with flexible joints
         title = title + "Robot with flexible joints\n"
         symo.write_params_table(self, title, inert=True, dynam=True)
         nealgos.flexible_inverse_dynmodel(pseudo_robo, symo)
     elif pseudo_robo.is_floating:
         # with rigid joints and floating base
         title = title + "Robot with rigid joints and floating base\n"
         symo.write_params_table(self, title, inert=True, dynam=True)
         nealgos.composite_inverse_dynmodel(pseudo_robo, symo)
     elif pseudo_robo.is_mobile:
         # mobile robot with rigid joints - known base acceleration
         title = title + "Robot with mobile base (Vdot0 is known)\n"
         symo.write_params_table(self, title, inert=True, dynam=True)
         nealgos.mobile_inverse_dynmodel(pseudo_robo, symo)
     else:
         # with rigid joints and fixed base
         title = title + "Robot with rigid joints and fixed base\n"
         symo.write_params_table(self, title, inert=True, dynam=True)
         nealgos.fixed_inverse_dynmodel(pseudo_robo, symo)
     symo.file_close()
     return symo
Ejemplo n.º 3
0
 def compute_idym(self):
     """
     Compute the Inverse Dynamic Model of the robot using the
     recursive Newton-Euler algorithm. Also choose the Newton-Euler
     algorithm based on the robot type.
     """
     symo = symbolmgr.SymbolManager()
     symo.file_open(self, 'idm')
     title = "Inverse Dynamic Model using Newton-Euler Algorithm\n"
     if 1 in self.eta:
         # with flexible joints
         title = title + "Robot with flexible joints\n"
         symo.write_params_table(self, title, inert=True, dynam=True)
         nealgos.flexible_inverse_dynmodel(self, symo)
     elif self.is_floating:
         # with rigid joints and floating base
         title = title + "Robot with rigid joints and floating base\n"
         symo.write_params_table(self, title, inert=True, dynam=True)
         nealgos.composite_inverse_dynmodel(self, symo)
     elif self.is_mobile:
         # mobile robot with rigid joints - known base acceleration
         title = title + "Robot with mobile base (Vdot0 is known)\n"
         symo.write_params_table(self, title, inert=True, dynam=True)
         nealgos.mobile_inverse_dynmodel(self, symo)
     else:
         # with rigid joints and fixed base
         title = title + "Robot with rigid joints and fixed base\n"
         symo.write_params_table(self, title, inert=True, dynam=True)
         nealgos.fixed_inverse_dynmodel(self, symo)
     symo.file_close()
     return symo
Ejemplo n.º 4
0
 def compute_idym(self):
     """
     Compute the Inverse Dynamic Model of the robot using the
     recursive Newton-Euler algorithm. Also choose the Newton-Euler
     algorithm based on the robot type.
     """
     symo = symbolmgr.SymbolManager()
     symo.file_open(self, 'idm')
     title = "Inverse Dynamic Model using Newton-Euler Algorithm\n"
     if 1 in self.eta:
         # with flexible joints
         title = title + "Robot with flexible joints\n"
         symo.write_params_table(self, title, inert=True, dynam=True)
         nealgos.flexible_inverse_dynmodel(self, symo)
     elif self.is_floating:
         # with rigid joints and floating base
         title = title + "Robot with rigid joints and floating base\n"
         symo.write_params_table(self, title, inert=True, dynam=True)
         nealgos.composite_inverse_dynmodel(self, symo)
     elif self.is_mobile:
         # mobile robot with rigid joints - known base acceleration
         title = title + "Robot with mobile base (Vdot0 is known)\n"
         symo.write_params_table(self, title, inert=True, dynam=True)
         nealgos.mobile_inverse_dynmodel(self, symo)
     else:
         # with rigid joints and fixed base
         title = title + "Robot with rigid joints and fixed base\n"
         symo.write_params_table(self, title, inert=True, dynam=True)
         nealgos.fixed_inverse_dynmodel(self, symo)
     symo.file_close()
     return symo