8000 Merged itorque and ospace into dynamics.py · ljthink/robotics-toolbox-python@708f43b · GitHub
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Merged itorque and ospace into dynamics.py
Added new author/credits line to each file. Removed some obsolete files.
1 parent 1060dec commit 708f43b

21 files changed

+220
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lines changed

‎robotics-toolbox-python/robot/Link.py

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"""
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Link object.
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@author: Peter Corke
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@copyright: Peter Corke
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Python implementation by: Luis Fernando Lara Tobar and Peter Corke.
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Based on original Robotics Toolbox for Matlab code by Peter Corke.
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Permission to use and copy is granted provided that acknowledgement of
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the authors is made.
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@author: Luis Fernando Lara Tobar and Peter Corke
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"""
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from numpy import *

‎robotics-toolbox-python/robot/Quaternion.py

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"""
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Quaternion class.
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@author: Peter Corke
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@copyright: Peter Corke 1999-2008
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Python implementation by: Luis Fernando Lara Tobar and Peter Corke.
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Based on original Robotics Toolbox for Matlab code by Peter Corke.
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Permission to use and copy is granted provided that acknowledgement of
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the authors is made.
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@author: Luis Fernando Lara Tobar and Peter Corke
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"""
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from numpy import *
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from utility import *
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import transform as T
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import copy
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print "in Quaternion"
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# Copyright (C) 1999-2002, by Peter I. Corke
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class quaternion:

‎robotics-toolbox-python/robot/Robot.py

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"""
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Robot object.
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@author: Peter Corke
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@copyright: Peter Corke
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Python implementation by: Luis Fernando Lara Tobar and Peter Corke.
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Based on original Robotics Toolbox for Matlab code by Peter Corke.
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Permission to use and copy is granted provided that acknowledgement of
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the authors is made.
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@author: Luis Fernando Lara Tobar and Peter Corke
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"""
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from numpy import *

‎robotics-toolbox-python/robot/demos.py

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‎robotics-toolbox-python/robot/dh.py

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‎robotics-toolbox-python/robot/diff2tr.py

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‎robotics-toolbox-python/robot/dyn.py

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‎robotics-toolbox-python/robot/dynamics.py

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"""
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Robot dynamics operations.
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@author: Peter Corke
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@copyright: Peter Corke
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Python implementation by: Luis Fernando Lara Tobar and Peter Corke.
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Based on original Robotics Toolbox for Matlab code by Peter Corke.
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Permission to use and copy is granted provided that acknowledgement of
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the authors is made.
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@author: Luis Fernando Lara Tobar and Peter Corke
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"""
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from numpy import *
@@ -174,6 +178,60 @@ def gravload(robot, q, gravity=None):
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return tg
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def itorque(robot, q, qdd):
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"""
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Compute the manipulator inertia torque
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tau = itorque(robot, q, qdd)
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Returns the n-element inertia torque vector at the specified pose and
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acceleration, that is,
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taui = inertia(q)*qdd
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C{robot} describes the manipulator dynamics and kinematics.
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If C{q} and C{qdd} are row vectors, the result is a row vector of joint
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torques.
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If C{q} and C{qdd} are matrices, each row is interpretted as a joint state
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vector, and the result is a matrix each row being the corresponding joint
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torques.
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If C{robot} contains non-zero motor inertia then this will included in the
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result.
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@see: rne, coriolis, inertia, gravload.
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"""
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return rne(robot, q, zeros(shape(q)), qdd, [[0],[0],[0]])
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def ospace(robot, q, qd):
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"""
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Return Operational Space dynamic matrices
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(Lambda, mu, p) = ospace(robot, q, qd)
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@see: rne
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@bug: not tested
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"""
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q = mat(q)
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qd = mat(qd)
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M = inertia(robot, q)
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C = coriolis(robot, q, qd)
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g = gravload(robot, q)
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J = jacob0(robot, q)
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Ji = inv(J)
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print 'Ji\n',Ji,'\n\n'
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print 'J\n',J,'\n\n'
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print 'M\n',M,'\n\n'
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print 'C\n',C,'\n\n'
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print 'g\n',g,'\n\n'
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Lambda = Ji.T*M*Ji
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mu = J.T*C - Lamba*H*qd
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p = J.T*g
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return Lambda, mu, p
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def rne(robot, *args, **options):
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"""
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Compute inverse dynamics via recursive Newton-Euler formulation.

‎robotics-toolbox-python/robot/gravload.py

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‎robotics-toolbox-python/robot/itorque.py

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‎robotics-toolbox-python/robot/jacobian.py

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"""
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Jacobian matrix operations.
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@author: Peter Corke
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@copyright: Peter Corke
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Python implementation by: Luis Fernando Lara Tobar and Peter Corke.
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Based on original Robotics Toolbox for Matlab code by Peter Corke.
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Permission to use and copy is granted provided that acknowledgement of
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the authors is made.
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@author: Luis Fernando Lara Tobar and Peter Corke
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"""
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from numpy import *

‎robotics-toolbox-python/robot/kinematics.py

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"""
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Robot kinematic operations.
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@author: Peter Corke
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@copyright: Peter Corke
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Python implementation by: Luis Fernando Lara Tobar and Peter Corke.
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Based on original Robotics Toolbox for Matlab code by Peter Corke.
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Permission to use and copy is granted provided that acknowledgement of
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the authors is made.
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@author: Luis Fernando Lara Tobar and Peter Corke
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"""
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from numpy import *

‎robotics-toolbox-python/robot/manipulability.py

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"""
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Robot manipulability operations.
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@author: Peter Corke
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@copyright: Peter Corke
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Python implementation by: Luis Fernando Lara Tobar and Peter Corke.
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Based on original Robotics Toolbox for Matlab code by Peter Corke.
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Permission to use and copy is granted provided that acknowledgement of
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the authors is made.
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@author: Luis Fernando Lara Tobar and Peter Corke
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"""
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