overview

There are sereval modules in motion control library.

Math

Math representation for geometry transform and so on. Also some simple conversion algorithm based on these representation.

These representation data structure will be used in robot kinematic dynamic algorithm as well as trajectory related algorithm.

Module in:

• lmc_math.h

Robot model

Robot model used to represent lebai robot. It contains the kinematic(link connection geometry, joint type and etc...) and dynamic(link dynamic param and world gravity, friction of joint and etc...) info of the robot arm. The robot related algorithms are based on robot model.

Module in:

• lmc_robot_model.h
• lmc_robot_model_config.h

Use lmc_rm_xxx function to create, delete, modify the robot model instance.

Kinematic

Kinematic module contains kinematic algorithm related interface, including: forward && inverse kinematic, jacobian solver(TODO), calibration solver(TODO) and etc..

Module in:

• lmc_kin.h

Use lmc_kin_xxx function to execute the kinematic algorithms. These function all works on a robot model instance.

Dynamic

dynamic module contains interface of various dynamic algorithms. More algorithms will be add in future.

Module in:

• lmc_dyn.h

Use lmc_dyn_xxx function to execute && config these algorithms. These functions all works on a robot model instance.

Trajectory generator

Trajectory generator module contains interface of trajectory generator.

Module in:

• lmc_tg.h
• lmc_tg_config.h
• lmc_joint.h

Use lmc_tg_xxx function to execute && config these algorithms. These functions all works on a robot model instance.

Controller

Module in:

• lmc_controller.h
• lmc_joint.h

Controller module contains several control block function. There are two main category of controllers.

• Position controller, the mainly output of control block is joint position, the joint position will then send to servo motor.

Cartesian admittance controller

• Torque controller, the mainly output of control block is joint torque, the joint torque will then send to servo motor.

Gravity compensation controller, computed torque controller

Group

Module in:

• lmc_group.h
• lmc_group_config.h

Group module contains a model that can be used in collision detect and motion plan.

group model is a data structure which is used to store the group kinematic and collision information.

group state is a data structure which is used to represent a group state space.

Use lmc_group_xxx function to create, delete, modify the group model and state instance.

Version

Module in:

• lmc_version.h

This module is just for library version information, it contains a version function to get currently compiled library version information.