#!/usr/bin/python # -*- coding: utf-8 -*- from kinematics import Kinematics from robots import table1 from robots import table_sr400 kin = Kinematics(table1) kin.set_q([1, 1, 1]) assert(kin.ajoints[0].q == 1) from kinematics import get_looproot kin = Kinematics(table_sr400) jnts = kin.joints assert(get_looproot(jnts, jnts[9]) == jnts[0]) from kinematics import get_loops kin = Kinematics(table_sr400) jnts = kin.joints assert(get_loops(jnts) == [(jnts[0], jnts[8])])
#!/usr/bin/python
# -*- coding: utf-8 -*-
from math import cos, sin
from numpy import matrix
from numpy import allclose
from numpy import zeros
from numpy import concatenate
from kinematics import Kinematics
from jacobians import serialKinematicJacobian as jacobian
from robots import table_rx90
kin = Kinematics(table_rx90)
kin.set_q([0.1, 0.2, 0.3, 0.4, 0.5, 0.6])
jnts = kin.joints
# This jacobian is obtained from the course 'Modeling and Control of Manipulators' of Wisama Khalil
numer_jac = matrix([[-10.2079, -408.5824, -349.2793, 0, 0, 0],
[101.7389, -40.9950, -35.0448, 0, 0, 0],
[0, 102.2498, -191.7702, 0, 0, 0],
[0, 0.0998, 0.0998, -0.4770, 0.4320, -0.7856],
[0, -0.9950, -0.9950, -0.0479, -0.8823, -0.2665],
[1.0000, 0.0000, 0.0000, 0.8776, 0.1867, 0.5584]
])
J = jacobian(jnts)
assert allclose(numer_jac, J, rtol=8e-04)
# From "Robots-manipulateurs de type série" - Wisama Khalil, Etienne Dombre, p.12.
# http://www.gdr-robotique.org/cours_de_robotique/?id=fd80a49ceaa004030c95cdacb020ec69.
# In French.
q0, q1, q2, q3, q4, q5 = kin.get_q()
#!/usr/bin/python # -*- coding: utf-8 -*- from kinematics import Kinematics from robots import table1 from robots import table_sr400 kin = Kinematics(table1) kin.set_q([1, 1, 1]) assert (kin.ajoints[0].q == 1) from kinematics import get_looproot kin = Kinematics(table_sr400) jnts = kin.joints assert (get_looproot(jnts, jnts[9]) == jnts[0]) from kinematics import get_loops kin = Kinematics(table_sr400) jnts = kin.joints assert (get_loops(jnts) == [(jnts[0], jnts[8])])
#!/usr/bin/python
# -*- coding: utf-8 -*-
from math import cos, sin
from numpy import matrix
from numpy import allclose
from numpy import zeros
from numpy import concatenate
from kinematics import Kinematics
from jacobians import serialKinematicJacobian as jacobian
from robots import table_rx90
kin = Kinematics(table_rx90)
kin.set_q([0.1, 0.2, 0.3, 0.4, 0.5, 0.6])
jnts = kin.joints
# This jacobian is obtained from the course 'Modeling and Control of Manipulators' of Wisama Khalil
numer_jac = matrix([[-10.2079, -408.5824, -349.2793, 0, 0, 0],
[101.7389, -40.9950, -35.0448, 0, 0, 0],
[0, 102.2498, -191.7702, 0, 0, 0],
[0, 0.0998, 0.0998, -0.4770, 0.4320, -0.7856],
[0, -0.9950, -0.9950, -0.0479, -0.8823, -0.2665],
[1.0000, 0.0000, 0.0000, 0.8776, 0.1867, 0.5584]])
J = jacobian(jnts)
assert allclose(numer_jac, J, rtol=8e-04)
# From "Robots-manipulateurs de type série" - Wisama Khalil, Etienne Dombre, p.12.
# http://www.gdr-robotique.org/cours_de_robotique/?id=fd80a49ceaa004030c95cdacb020ec69.
# In French.
q0, q1, q2, q3, q4, q5 = kin.get_q()
c1 = cos(q0)
