Kinematics module. More...

Functions
int	lmc_kin_fk_pose (lmc_robot_model_t const robot_model, double const const joint_pos, lmc_transform_t *const cart_pose)
	Compute kinematic forward TCP of robot. More...

int	lmc_kin_fk_pose_by_index (lmc_robot_model_t const robot_model, double const const joint_pos, int index, lmc_transform_t *const cart_pose)
	Compute kinematic forward position of robot. This function can compute all the link position. More...

int	lmc_kin_ik_pose (lmc_robot_model_t const robot_model, lmc_transform_t const const cart_pose, double *const joint_pos)
	Compute kinematic inverse joint position of robot. More...

int	lmc_kin_all_ik_poses (lmc_robot_model_t const robot_model, lmc_transform_t const const cart_pose, unsigned int const num, lmc_all_joint_poses_t const joint_poses)
	Compute kinematic inverse all possible joint positions of robot. More...

double	lmc_kin_manipulation_measure (lmc_robot_model_t const robot_model, double const const joint_pos)
	Compute manipulation measure. This function compute manipulation measure data, which indicate that the robot(manipulator) is in singularity. When the measure is less than 0.001, usually means the robot lose some ability in moving to certain direction. More...

int16_t	lmc_kin_get_singularity_type (lmc_robot_model_t const robot_model, double const const joint_pos)
	Compute singularity type data. More...

int	lmc_kin_cal_translation (lmc_transform_t const const all_cart_pose, size_t size, float tol, lmc_translation_t const t)
	Compute a transform from multi points(transform pose). More...

int	lmc_kin_cal_transform_from_oxy (lmc_translation_t const const o, lmc_translation_t const const x, lmc_translation_t const const xy, double tol, lmc_transform_t const t)
	Calculate a transform from three points: origin point, point on x axis, and point on xy plane(but not on x axis). The calculated transform has a translation on origin point, and a rotation which x axis align to ox, y axis is on oxy plane and perpendicular to x axis, and z axis is perpendicular to oxy plane. More...

Detailed Description

Kinematics module.

Function Documentation

int lmc_kin_all_ik_poses	(	lmc_robot_model_t *const	robot_model,
		lmc_transform_t const *const	cart_pose,
		unsigned int *const	num,
		lmc_all_joint_poses_t *const	joint_poses
	)

Compute kinematic inverse all possible joint positions of robot.

Note

Parameters

[in]	robot_model	Robot model data for kinematic computing
[in]	cart_pose	Cartesian pose for transform
[out]	num	Number of total inverse kinematic solution.
[out]	joint_poses	Array of joint position array input as init pose.

Returns: Return 0 on success, otherwise failure.

int lmc_kin_cal_transform_from_oxy	(	lmc_translation_t const *const	o,
		lmc_translation_t const *const	x,
		lmc_translation_t const *const	xy,
		double	tol,
		lmc_transform_t *const	t
	)

Calculate a transform from three points: origin point, point on x axis, and point on xy plane(but not on x axis). The calculated transform has a translation on origin point, and a rotation which x axis align to ox, y axis is on oxy plane and perpendicular to x axis, and z axis is perpendicular to oxy plane.

Parameters

[in]	o	Origin point.
[in]	x	Point on x axis.
[in]	xy	Point on xy plane but not on x axis.
[in]	tol	Tolerance for vector too small and parallel check. It's OK to set to 0.01.
[out]	t	result transform.

Returns: Return 0 on success, otherwise failure.

int lmc_kin_cal_translation	(	lmc_transform_t const *const	all_cart_pose,
		size_t	size,
		float	tol,
		lmc_translation_t *const	t
	)

Compute a transform from multi points(transform pose).

Parameters

[in]	all_cart_pose	Tranform data array
[in]	size	num of input transform data array
[in]	tol	Tolerance for standard deviation computing, if any deviation exceed tolerance, the function returns error.
[out]	t	result translation.

Returns: Return 0 on success, otherwise failure.

int lmc_kin_fk_pose	(	lmc_robot_model_t *const	robot_model,
		double const *const	joint_pos,
		lmc_transform_t *const	cart_pose
	)

Compute kinematic forward TCP of robot.

Note

Parameters

[in]	robot_model	Robot model data for kinematic computing.
[in]	joint_pos	Joint position array.
[out]	cart_pose	Computed cartesian pose.

Returns: Return 0 on success, otherwise failure.

int lmc_kin_fk_pose_by_index	(	lmc_robot_model_t *const	robot_model,
		double const *const	joint_pos,
		int	index,
		lmc_transform_t *const	cart_pose
	)

Compute kinematic forward position of robot. This function can compute all the link position.

Note

Parameters

[in]	robot_model	Robot model data for kinematic computing.
[in]	joint_pos	Joint position array.
[in]	index	link index. The following list gives a detailed description: -1: Always return the end effector(tcp) transform. =0: Always return unit lmc_transform_t. [1:segments_size+2]: Return the corresponding link transform. We have base_link->robot_link->tool_link structure. The segments_size is defined in lmc_robot_model_config. >segments_size+2: fcuntion call failed and return error.
[out]	cart_pose	Computed cartesian pose.

Returns: Return 0 on success, otherwise failure.

int16_t lmc_kin_get_singularity_type	(	lmc_robot_model_t *const	robot_model,
		double const *const	joint_pos
	)

Compute singularity type data.

Note

Parameters

[in]	robot_model	Robot model data for kinematic computing
[in]	joint_pos	Joint position array.

Returns: Return singulartity type data. The data is arranged by bitset:

Bit 16	...	Bit 3	Bit 2	Bit 1
NA	NA	Wrist Alignment Singularity	Inner Workspace Limit	Outer Workspace Limit

Outer Workspace Limit: This means the robot second link and third link are aligned, usually means the robot is almost reach its outside limitation.

Outer Workspace Limit

Inner Workspace Limit: This means the robot's flange end is close to the column directly above and below the robot base.

Inner Workspace Limit

Wrist Alignment Singularity: This means the robot's shoulder, elbow and wrist 1 joints all all align the movement of wrist joint 2.

Wrist Alignment Singularity

int lmc_kin_ik_pose	(	lmc_robot_model_t *const	robot_model,
		lmc_transform_t const *const	cart_pose,
		double *const	joint_pos
	)

Compute kinematic inverse joint position of robot.

Note

Parameters

[in]	robot_model	Robot model data for kinematic computing
[in]	cart_pose	Cartesian pose for transform
[in,out]	joint_pos	Joint position array input as init pose, and then set to computed joint position.

Returns: Return 0 on success, otherwise failure.

double lmc_kin_manipulation_measure	(	lmc_robot_model_t *const	robot_model,
		double const *const	joint_pos
	)

Compute manipulation measure. This function compute manipulation measure data, which indicate that the robot(manipulator) is in singularity. When the measure is less than 0.001, usually means the robot lose some ability in moving to certain direction.

Note

Parameters

[in]	robot_model	Robot model data for kinematic computing
[in]	joint_pos	Joint position array.

Returns: Return manipulation measure value, you can use this return value to check singularity threshold by your self.

Functions

Detailed Description

Function Documentation