dynamics

Dynamics module. More...

Functions
int	lmc_dyn_id (lmc_robot_model_t *const robot_model, lmc_joint_state_t const *const joint_state, double *const torque)
	Compute inverse dynamic of robot: given the joint position, velocity and acceleration, compute the joint torque. More...
int	lmc_dyn_update_tcp_force_direct_estimation (lmc_robot_model_t *const robot_model, lmc_joint_state_t const *const joint_state, double const *const torque, lmc_wrench_t *const f)
	Core update of direct dynamic equation based external tcp force estimatation algorithm: given the joint position, velocity and acceleration and current feedback torque on joint, try to estimate the external tcp force. More...
int	lmc_dyn_update_tcp_force_momentum_observer_estimation (lmc_robot_model_t *const robot_model, double cycle_time, lmc_joint_state_t const *const joint_state, double const *const torque, lmc_wrench_t *const f)
	Core update of momentum observer based external tcp force estimatation algorithm: given the joint position, velocity and current feedback torque on joint, try to estimate the external tcp force. More...
int	lmc_dyn_init_tcp_force_momentum_observer_estimation (lmc_robot_model_t *const robot_model, lmc_joint_state_t const *const joint_state)
	Init momentum observer estimation. More...
int	lmc_dyn_estimate_payload_with_twice_strategy (lmc_robot_model_t *const robot_model, lmc_all_sampled_joint_state_t const *const all_sampled_data, double *const mass, lmc_translation_t *const com)
	Estimate payload parameter. More...
*int	lmc_dyn_gravity_compensate (lmc_robot_model_t *const robot_model, lmc_joint_state_t const *const joint_state,*double *const torque)
	Compute gravity compensation for robot, can be used for teaching. More...
**int	lmc_dyn_computed_torque_control (lmc_robot_model_t *const robot_model,*lmc_joint_state_t const *const joint_state, lmc_joint_cmd_t const *const joint_cmd,*double *const torque, double *const inertia)
	Computed torque control algorithm. More...
**int	lmc_dyn_set_computed_torque_control_param (lmc_robot_model_t *const robot_model, const double *kp, const double *kv)
	Set computed torque control parameters. More...
*int	lmc_dyn_set_gravity (lmc_robot_model_t const *const robot_model, lmc_translation_t const *const gravity)
	Set gravity vector, will affect all the dynamic algorithms. More...

Detailed Description

Dynamics module.

Function Documentation

* * int lmc_dyn_computed_torque_control	(	lmc_robot_model_t *const	robot_model,
		*lmc_joint_state_t const *const	joint_state,
		lmc_joint_cmd_t const *const	joint_cmd,
		*double *const	torque,
		double *const	inertia
	)

Computed torque control algorithm.

/**

• *

  Note

• Parameters

  [in]

  robot_model

  Robot model data for dynamic computing.

• Parameters

  [in]

  joint_state

  Joint state data input for compute.

• Parameters

  [in]

  joint_cmd

  Joint command data input for compute.

• Parameters

  [out]

  torque

  The torque computing result.

• Parameters

  [out]

  inertia

  The computed matrix principal diagonal inertia, mostly represent joint inertia state.

int lmc_dyn_estimate_payload_with_twice_strategy	(	lmc_robot_model_t *const	robot_model,
		lmc_all_sampled_joint_state_t const *const	all_sampled_data,
		double *const	mass,
		lmc_translation_t *const	com
	)

Estimate payload parameter.

Note

Maximun 1000 sample points.

Parameters

[in]	robot_model	Robot model data for dynamic computing.
[in]	all_sampled_data	All sampled data. For joint torques, we get the delta torques of two measurements. Only one joint can move simultaneously.
[out]	mass	computed mass.
[out]	com	computed center of mass.

Returns

Return 0 on success, otherwise failure.

* int lmc_dyn_gravity_compensate	(	lmc_robot_model_t *const	robot_model,
		lmc_joint_state_t const *const	joint_state,
		*double *const	torque
	)

Compute gravity compensation for robot, can be used for teaching.

/**

• *

  Note

• Parameters

  [in]

  robot_model

  Robot model data for dynamic computing.

• Parameters

  [in]

  joint_state

  Joint state data input for compute.

• Parameters

  [out]

  torque

  The computed result in array form.

int lmc_dyn_id	(	lmc_robot_model_t *const	robot_model,
		lmc_joint_state_t const *const	joint_state,
		double *const	torque
	)

Compute inverse dynamic of robot: given the joint position, velocity and acceleration, compute the joint torque.

Parameters

[in]	robot_model	Robot model data for dynamic computing.
[in]	joint_state	Joint state data input for compute.
[out]	torque	The computed result in array form.

Returns

Return 0 on success, otherwise failure.

int lmc_dyn_init_tcp_force_momentum_observer_estimation	(	lmc_robot_model_t *const	robot_model,
		lmc_joint_state_t const *const	joint_state
	)

Init momentum observer estimation.

Note

This is a momentum observer based algorithm. this method must be called continously in every cycle.

Parameters

[in]	robot_model	Robot model data for dynamic computing.
[in]	joint_state	Joint state data input for compute, only position and velocity will be used.

Returns

Return 0 on success, otherwise failure.

* * int lmc_dyn_set_computed_torque_control_param	(	lmc_robot_model_t *const	robot_model,
		const double *	kp,
		const double *	kv
	)

Set computed torque control parameters.

/**

• *

  Note

  In old lebai_kdl, we set these parameter in init function. Now we use this standalone api.

• Parameters

  [in]

  robot_model

  Robot model data structure for setting.

• Parameters

  [in]

  kp

  kp array data.

• Parameters

  [in]

  kv

  kv array data.

• Returns

  Return 0 on success, otherwise failure.

* int lmc_dyn_set_gravity	(	lmc_robot_model_t const *const	robot_model,
		lmc_translation_t const *const	gravity
	)

Set gravity vector, will affect all the dynamic algorithms.

Note

Parameters

[in]	robot_model	Robot model data structure for setting.
[in]	gravity	gravity vector data

Returns

Return 0 on success, otherwise failure.

int lmc_dyn_update_tcp_force_direct_estimation	(	lmc_robot_model_t *const	robot_model,
		lmc_joint_state_t const *const	joint_state,
		double const *const	torque,
		lmc_wrench_t *const	f
	)

Core update of direct dynamic equation based external tcp force estimatation algorithm: given the joint position, velocity and acceleration and current feedback torque on joint, try to estimate the external tcp force.

Note

This is a direct method using dynamic equation to estimate tcp force. Set vel and acc to zero in lmc_joint_state_t in case vel and acc data is not stable due to differential compute.

Parameters

[in]	robot_model	Robot model data for dynamic computing.
[in]	joint_state	Joint state data input for compute.
[in]	torque	The actual joint torque in array form.
[out]	f	The external tcp force.

Returns

Return 0 on success, otherwise failure.

int lmc_dyn_update_tcp_force_momentum_observer_estimation	(	lmc_robot_model_t *const	robot_model,
		double	cycle_time,
		lmc_joint_state_t const *const	joint_state,
		double const *const	torque,
		lmc_wrench_t *const	f
	)

Core update of momentum observer based external tcp force estimatation algorithm: given the joint position, velocity and current feedback torque on joint, try to estimate the external tcp force.

Note

This is a momentum observer based algorithm. this method must be called continously in every cycle.

Parameters

[in]	robot_model	Robot model data for dynamic computing.
[in]	cycle_time	loop cycle time.
[in]	joint_state	Joint state data input for compute, only position and velocity will be used.
[in]	torque	The actual joint torque in array form.
[out]	f	The external tcp force.

Returns

Return 0 on success, otherwise failure.