Package org.robwork.sdurw

Class ParallelDevice

  • public class ParallelDevice
extends JointDevice
    This class defines the interface for Parallel devices.

    • Constructor Detail

      • ParallelDevice

        public ParallelDevice​(long cPtr,
                      boolean cMemoryOwn)

      • ParallelDevice

        public ParallelDevice​(ParallelLegPointerVector legs,
                      java.lang.String name,
                      State state)
        Constructor

        Parameters:
        legs - [in] the serial legs connecting the endplate to the base.
        The base of each serial Leg must be the same frame. Likewise, the endeffector
        (last frame) of each Leg must transform to the same transform as each of the
        other legs
        name - [in] name of device
        state - [in] the state for the assembly mode

      • ParallelDevice

        public ParallelDevice​(java.lang.String name,
                      Frame base,
                      Frame end,
                      JointPointerVector joints,
                      State state,
                      ParallelLegPointerVectorVector junctions)
        Constructor for parallel device with multiple junctions.
        Parameters:
        name - [in] name of the device.
        base - [in] the base frame.
        end - [in] the end frame.
        joints - [in] a list of joints. Each joint can be included in multiple legs.
        state - [in] the state used to construct a JointDevice.
        junctions - [in] a list of junctions.
        Each junction is given by a list of legs that must begin and end in the same frame.

    • Method Detail

      • setQ

        public void setQ​(Q q,
                 State state)


        The configuration q is the configuration for the actuated joints
        of the parallel device. Based on the value of q the setQ() method
        automatically computes the values for the unactuated (passive)
        joints.
        Overrides:
        setQ in class JointDevice
        Parameters:
        q - [in] configuration vector \mathbf{q}
        state - [in] state into which to set \mathbf{q}

      • setQ

        public void setQ​(Q q,
                 Vectorbool enabled,
                 State state)
        Set only some of the actuated joints.

        This version of setQ will only set a subset of the actuated joints.
        Based on the value of
        q, the function will compute the values for the
        unactuated (passive) joints, and the remaining actuated joints.

        This is mainly useful for parallel devices that have more controlled joints
        than strictly required to make the kinematics determined.

        Parameters:
        q - [in] the configuration of the actuated joints
        (the only considered elements are the ones where the corresponding elements of enabled
        is true).
        enabled - [in] vector of same size as q, specifying which values to solve for.
        state - [in/out] the state with all active and passive joint values.
        The input state is expected to contain a valid and consistent configuration of the
        device.

      • baseJframe

        public Jacobian baseJframe​(Frame frame,
                           State state)
        Description copied from class: Device
        Calculates the jacobian matrix of a frame f described in the
        robot base frame ^{base}_{frame}\mathbf{J}_{\mathbf{q}}(\mathbf{q})

        Overrides:
        baseJframe in class Device
        Parameters:
        frame - [in] Frame for which to calculate the Jacobian
        state - [in] State for which to calculate the Jacobian

        Returns:
        the 6*ndof jacobian matrix: {^{base}_{frame}}\mathbf{J}_{\mathbf{q}}(\mathbf{q})

        This method calculates the jacobian relating joint velocities ( \mathbf{\dot{q}} ) to the frame f velocity seen from base-frame
        ( \nu^{base}_{frame} )

        \nu^{base}_{frame} = {^{base}_{frame}}\mathbf{J}_\mathbf{q}(\mathbf{q})\mathbf{\dot{q}}


        The jacobian matrix {^{base}_n}\mathbf{J}_{\mathbf{q}}(\mathbf{q})
        is defined as:

        {^{base}_n}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) = \frac{\partial ^{base}\mathbf{x}_n}{\partial \mathbf{q}}

        By default the method forwards to baseJframes().

      • baseJend

        public Jacobian baseJend​(State state)
        Description copied from class: Device
        Calculates the jacobian matrix of the end-effector described
        in the robot base frame ^{base}_{end}\mathbf{J}_{\mathbf{q}}(\mathbf{q})

        Overrides:
        baseJend in class JointDevice
        Parameters:
        state - [in] State for which to calculate the Jacobian

        Returns:
        the 6*ndof jacobian matrix: {^{base}_{end}}\mathbf{J}_{\mathbf{q}}(\mathbf{q})

        This method calculates the jacobian relating joint velocities ( \mathbf{\dot{q}} ) to the end-effector velocity seen from
        base-frame ( \nu^{ase}_{end} )

        \nu^{base}_{end} = {^{base}_{end}}\mathbf{J}_\mathbf{q}(\mathbf{q})\mathbf{\dot{q}}


        The jacobian matrix {^{base}_n}\mathbf{J}_{\mathbf{q}}(\mathbf{q})
        is defined as:

        {^{base}_n}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) = \frac{\partial ^{base}\mathbf{x}_n}{\partial \mathbf{q}}

        Where:
        {^{base}_n}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) = \left[ \begin{array}{cccc} {^{base}_1}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) {^{base}_2}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) \cdots {^b_n}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) \\ \end{array} \right]
        where {^{base}_i}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) is defined by
        {^{base}_i}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) = \begin{array}{cc} \left[ \begin{array}{c} {^{base}}\mathbf{z}_i \times {^{i}\mathbf{p}_n} \\ {^{base}}\mathbf{z}_i \\ \end{array} \right] \textrm{revolute joint} \end{array}
        {^{base}_i}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) = \begin{array}{cc} \left[ \begin{array}{c} {^{base}}\mathbf{z}_i \\ \mathbf{0} \\ \end{array} \right] \textrm{prismatic joint} \\ \end{array}

        By default the method forwards to baseJframe().

      • getJunctions

        public ParallelLegPointerVectorVector getJunctions()
        Get the junctions of the device.
        Returns:
        a vector of junctions. Each junction is given by a two or more legs.

      • getActiveJoints

        public JointPointerVector getActiveJoints()
        The active joints of the parallel device.

      • getAllJoints

        public JointPointerVector getAllJoints()
        Get all joints (both active and passive).
        Returns:
        a vector of all the joints.

      • getFullDOF

        public long getFullDOF()
        Get the total degrees of freedom for all (active and passive) joints in the
        device.
        Returns:
        the total degrees of freedom.

      • getAllBounds

        public PairQ getAllBounds()
        Get bounds for all joints (includes both active and passive joints).
        Returns:
        a pair with the lower and upper limits.

      • getFullQ

        public Q getFullQ​(State state)
        Get the full configuration vector of the device. This gives the complete state of
        the parallel device.
        Parameters:
        state - [in] the state that contains the full configuration.
        Returns:
        the configuration vector with the joint values for both active and passive
        joints.

      • setFullQ

        public void setFullQ​(Q q,
                     State state)
        Set the full configuration of the device.
        This sets the joint values directly, and there is no checks or guarantees that the device
        will be in a valid connected configuration afterwards.
        Parameters:
        q - [in] the configuration vector to set.
        state - [in/out] the state to update with a new configuration.