Module: robotics.future

The future module contains functionality which is currently under development and will be moved in other robotics libraries in future

Function: MakeCorkeRobot

function description:

makeCorkeRobot, creates robot using the peter corke toolbox using standard (stdDH) or modified (modKKDH) Denavid Hartenberg parameters
input:

robotDic: robot dictionary by exudyn robotic models

dhpara: stDH for standard DH parameter, modKKDH for modified DH parameter
output:

serial robot object by corke
author:

Martin Sereinig
notes:

DH Parameter Information:

stdH = [theta, d, a, alpha] with Rz(theta) * Tz(d) * Tx(a) * Rx(alpha)

modDH = [alpha, dx, theta, rz] with

used by Corke and Lynch: Rx(alpha) * Tx(a) * Rz(theta) * Tz(d)

used by Khali: Rx(alpha) * Tx(d) * Rz(theta) * Tz(r)

Important note: d(khali)=a(corke) and r(khali)=d(corke)

ComputeIK3R(robotDic, HT)

function description:

calculates the analytical inverse kinematics for 3R elbow type serial robot manipulator
input:

robotDic: robot dictionary

HT: desired position and orientation for the end effector as 4x4 homogeneous transformation matrix as list of lists or np.array
output:

solutions, list of lists with posible joint angles [q1,q2,q3] (in radiant)

to achive the desired position (4 posible solutions,schoulder left/right, ellbow up/down ) in following order: left/down, left/up, right/up, right/down
author:

Martin Sereinig
notes:

only applicable for standard Denavit-Hartenberg parameters
status:

testet with various configurations and joint angels

ComputeIKPuma560(robotDic, HT)

function description:

calculates the analytical inverse kinematics for Puma560 serial 6R robotDic manipulator
input:

robotDic: robotDictionary

HT: desired position and orientation for the end effector as 4x4 homogeneous transformation matrix as list of lists or np.array
output:

qSolutions, list of lists with posible joint angles [q1,q2,q3,q4,q5,q6] (in radiant)

to achive the desired position and orientation (8 posible solutions,schoulder left/right, ellbow up/down, wrist flipped/notflipped (rotated by pi) )

left/down/notflipped, left/down/flipped, left/up/notflipped, left/up/flipped, right/up/notflipped, right/up/flipped, right/down/notflipped, right/down/flipped
author:

Martin Sereinig
notes:

Usage for different manipulators with sperical wrist posible, only applicable for standard Denavit-Hartenberg parameters
status:

tested (compared with robotDiccs, Vision and Control book of P. Corke

ComputeIKUR(robotDic, HTdes)

function description:

calculates the analytical inverse kinematics for UR type serial 6R robot manipulator without sperical wrist
input:

robotDic: robot dictionary

HT: desired position and orientation for the end effector as 4x4 homogeneous transformation matrix as list of lists or np.array
output:

solutions, list of lists with posible joint angles [q1,q2,q3,q4,q5,q6] (in radiant)

to achive the desired position and orientation (8 posible solutions,schoulder left/right, ellbow up/down, wrist flipped/notflipped (rotated by pi) )

[left/down/notflipped, left/down/flipped, left/up/notflipped, left/up/flipped, right/up/notflipped, right/up/flipped, right/down/notflipped, right/down/flipped]
author:

Martin Sereinig
notes:

Usage for different manipulators without sperical wrist posible UR3,UR5,UR10, only applicable for standard Denavit-Hartenberg parameters
status:

under development, works for most configurations, singularities not checked -> ZeroConfiguration not working