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
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
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
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