arcs::common_interface::RobotAlgorithm Class Reference

Interfaces related to robot algorithms More...

#include <robot_algorithm.h>

Public Member Functions
	RobotAlgorithm ()
virtual	~RobotAlgorithm ()
ForceSensorCalibResult	calibrateTcpForceSensor (const std::vector< std::vector< double > > &forces, const std::vector< std::vector< double > > &poses)
	Force sensor calibration algorithm (three-point calibration method)
ForceSensorCalibResultWithError	calibrateTcpForceSensor2 (const std::vector< std::vector< double > > &forces, const std::vector< std::vector< double > > &poses)
	Force sensor calibration algorithm (three-point calibration method)
ResultWithErrno	calibrateTcpForceSensor3 (const std::vector< std::vector< double > > &forces, const std::vector< std::vector< double > > &poses, const double &mass, const std::vector< double > &cog)
	Force sensor offset calibration algorithm
int	payloadIdentify (const std::string &data_file_no_payload, const std::string &data_file_with_payload)
	Payload identification algorithm interface based on current
int	payloadIdentify1 (const std::string &file_name)
	New version of payload identification algorithm interface based on current
int	payloadCalculateFinished ()
	Whether payload identification calculation is finished
Payload	getPayloadIdentifyResult ()
	Get the result of payload identification
bool	frictionModelIdentify (const std::vector< std::vector< double > > &q, const std::vector< std::vector< double > > &qd, const std::vector< std::vector< double > > &qdd, const std::vector< std::vector< double > > &temp)
	Joint friction model identification algorithm interface
ResultWithErrno	calibWorkpieceCoordinatePara (const std::vector< std::vector< double > > &q, int type)
	Workpiece coordinate calibration algorithm interface (requires correct TCP offset set before calling) Input multiple sets of joint angles and calibration type, output workpiece coordinate pose (relative to robot base)
ResultWithErrno	forwardDynamics (const std::vector< double > &q, const std::vector< double > &torqs)
	Forward dynamics
ResultWithErrno	forwardDynamics1 (const std::vector< double > &q, const std::vector< double > &torqs, const std::vector< double > &tcp_offset)
	Forward dynamics based on the given TCP offset
ResultWithErrno	forwardKinematics (const std::vector< double > &q)
	Forward kinematics, based on the activated TCP offset (the most recently set via setTcpOffset) Input joint angles, output TCP pose
ResultWithErrno	forwardKinematics1 (const std::vector< double > &q, const std::vector< double > &tcp_offset)
	Forward kinematics Input joint angles, output TCP pose
ResultWithErrno	forwardToolKinematics (const std::vector< double > &q)
	Forward kinematics (ignoring TCP offset)
ResultWithErrno1	forwardKinematicsAll (const std::vector< double > &q)
	Forward kinematics, based on the activated TCP offset (the most recently set via setTcpOffset) Input joint angles, output links poses
ResultWithErrno	inverseKinematics (const std::vector< double > &qnear, const std::vector< double > &pose)
	Inverse kinematics Input TCP pose and reference joint angles, output joint angles
ResultWithErrno	inverseKinematics1 (const std::vector< double > &qnear, const std::vector< double > &pose, const std::vector< double > &tcp_offset)
	Inverse kinematics Input TCP pose and reference joint angles, output joint angles
ResultWithErrno1	inverseKinematicsAll (const std::vector< double > &pose)
	Solve all inverse kinematics solutions based on the activated TCP offset
ResultWithErrno1	inverseKinematicsAll1 (const std::vector< double > &pose, const std::vector< double > &tcp_offset)
	Solve all inverse kinematics solutions based on the provided TCP offset
ResultWithErrno	inverseToolKinematics (const std::vector< double > &qnear, const std::vector< double > &pose)
	Inverse kinematics (ignoring TCP offset)
ResultWithErrno1	inverseToolKinematicsAll (const std::vector< double > &pose)
	Inverse kinematics (ignoring TCP offset)
std::vector< std::vector< double > >	pathMovej (const std::vector< double > &q1, double r1, const std::vector< double > &q2, double r2, double d)
	Solve the trajectory points between movej
ResultWithErrno	calcJacobian (const std::vector< double > &q, bool base_or_end)
	Calculate the Jacobian matrix at the robot end-effector
std::vector< std::vector< double > >	pathBlend3Points (int type, const std::vector< double > &q_start, const std::vector< double > &q_via, const std::vector< double > &q_to, double r, double d)
	Solve the blended trajectory points
int	generatePayloadIdentifyTraj (const std::string &name, const TrajConfig &traj_conf)
	Generate excitation trajectory for payload identification This interface internally calls pathBufferAppend The offline trajectory is stored in the buffer, and can be executed later via movePathBuffer
int	payloadIdentifyTrajGenFinished ()
	Whether payload identification trajectory generation is finished
std::vector< std::vector< double > >	pathMoveS (const std::vector< std::vector< double > > &qs, double d)
	Solve the trajectory points for moveS
ResultWithErrno1	calibVibrationParams (const std::vector< std::vector< double > > &q, const std::vector< std::vector< double > > &qd, const std::vector< std::vector< double > > &target_q, const std::vector< std::vector< double > > &target_qd, const std::vector< std::vector< double > > &target_qdd, const std::vector< double > &tool_offset)

Protected Attributes
void *	d_

Detailed Description

Interfaces related to robot algorithms

Definition at line 29 of file robot_algorithm.h.

Constructor & Destructor Documentation

RobotAlgorithm()

arcs::common_interface::RobotAlgorithm::RobotAlgorithm

(

)

~RobotAlgorithm()

virtual arcs::common_interface::RobotAlgorithm::~RobotAlgorithm ( )

virtual

Member Function Documentation

calcJacobian()

ResultWithErrno arcs::common_interface::RobotAlgorithm::calcJacobian	(	const std::vector< double > &	q,
		bool	base_or_end
	)

Calculate the Jacobian matrix at the robot end-effector

Parameters

q	Joint angles
base_or_end	Reference frame: base (or end-effector) true: described in base frame false: described in end-effector frame

Returns

Whether the Jacobian matrix is valid The first parameter of the return value is the Jacobian matrix for this configuration, the second is the error code. The error code list was updated after versions 0.28.1-rc.21 and 0.29.0-alpha.25. Previously, inverse kinematics errors returned 30082. The updated error codes are: 0 - Success -23 - Inverse kinematics calculation does not converge, calculation error -24 - Inverse kinematics calculation exceeds robot limits -25 - Inverse kinematics input configuration error -26 - Inverse kinematics Jacobian calculation failed -27 - Analytical solution exists but none satisfy the selection criteria -28 - Unknown error in inverse kinematics If the error code is not 0, the first parameter of the return value is the input reference joint angles qnear

Exceptions

arcs::common_interface::AuboException

Python function prototype

calJacobian(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float], arg1: bool) -> Tuple[List[float], int]

Lua function prototype

calJacobian(q: table, base_or_end: boolean) -> table

Lua example

calJ_result = calJacobian({0.58815,0.0532,0.62391,2.46,0.479,1.619},true)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.calcJacobian","params":[[0.58815,0.0532,0.62391,2.46,0.479,1.619],true],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":[[0.20822779551242535,-0.5409416184208162,0.2019786999613013,0.061264982268770196,-0.026269884327316487, 0.10131708699859962,0.26388933410019777,-0.36074292664199115,0.1346954733416397,0.04085636647597124,-0.07244204452918337,0.0708466286633346, 0.0,0.10401808481666497,-0.12571344758923886,-0.07741290545882097,0.18818543519232858,0.04628646442706299,0.0,0.5548228314607867, -0.5548228314607868,0.5548228314607868,-0.7901273140338193,0.37230961532208007,0.0,-0.8319685244586092,0.8319685244586091,-0.8319685244586091, -0.5269197820578843,-0.8184088260676008,1.0,3.749399456654644e-33,-6.512048180336603e-18,1.0956823467534067e-16,-0.31313634553301894, 0.43771285536682175],0]}

calibrateTcpForceSensor()

ForceSensorCalibResult arcs::common_interface::RobotAlgorithm::calibrateTcpForceSensor	(	const std::vector< std::vector< double > > &	forces,
		const std::vector< std::vector< double > > &	poses
	)

Force sensor calibration algorithm (three-point calibration method)

Parameters

force	Force data
q	Joint angles

Returns

Calibration result

Exceptions

arcs::common_interface::AuboException

Python function prototype

calibrateTcpForceSensor(self: pyaubo_sdk.RobotAlgorithm, arg0: List[List[float]], arg1: List[List[float]]) -> Tuple[List[float], List[float], float, List[float]]

Lua function prototype

calibrateTcpForceSensor(force: table, q: table) -> table

Lua example

cal_table = calibrateTcpForceSensor({10.0,10.0,10.0,-1.2,-1.2,-1.2}, {3.083,1.227,1.098,0.670,-1.870,-0.397})

calibrateTcpForceSensor2()

ForceSensorCalibResultWithError arcs::common_interface::RobotAlgorithm::calibrateTcpForceSensor2	(	const std::vector< std::vector< double > > &	forces,
		const std::vector< std::vector< double > > &	poses
	)

Force sensor calibration algorithm (three-point calibration method)

Parameters

forces
poses

Returns

force_offset, com, mass, angle error

Exceptions

arcs::common_interface::AuboException

calibrateTcpForceSensor3()

ResultWithErrno arcs::common_interface::RobotAlgorithm::calibrateTcpForceSensor3	(	const std::vector< std::vector< double > > &	forces,
		const std::vector< std::vector< double > > &	poses,
		const double &	mass,
		const std::vector< double > &	cog
	)

Force sensor offset calibration algorithm

Parameters

forces	Force data
poses
m	Mass, unit: kg
cog	Center of gravity, unit: m, format (CoGx, CoGy, CoGz)

Returns

Calibration result

Exceptions

arcs::common_interface::AuboException

calibVibrationParams()

ResultWithErrno1 arcs::common_interface::RobotAlgorithm::calibVibrationParams	(	const std::vector< std::vector< double > > &	q,
		const std::vector< std::vector< double > > &	qd,
		const std::vector< std::vector< double > > &	target_q,
		const std::vector< std::vector< double > > &	target_qd,
		const std::vector< std::vector< double > > &	target_qdd,
		const std::vector< double > &	tool_offset
	)

calibWorkpieceCoordinatePara()

ResultWithErrno arcs::common_interface::RobotAlgorithm::calibWorkpieceCoordinatePara	(	const std::vector< std::vector< double > > &	q,
		int	type
	)

Workpiece coordinate calibration algorithm interface (requires correct TCP offset set before calling) Input multiple sets of joint angles and calibration type, output workpiece coordinate pose (relative to robot base)

Parameters

q	Joint angles
type	Calibration type

Returns

Calculation result (workpiece coordinate pose) and error code

Exceptions

arcs::common_interface::AuboException

Python function prototype

calibWorkpieceCoordinatePara(self: pyaubo_sdk.RobotAlgorithm, arg0: List[List[float]], arg1: int) -> Tuple[List[float], int]

Lua function prototype

calibWorkpieceCoordinatePara(q: table, type: number) -> table, number

Lua example

coord_pose,coord_num = calibWorkpieceCoordinatePara({3.083,1.227,1.098,0.670,-1.870,-0.397},1)

forwardDynamics()

ResultWithErrno arcs::common_interface::RobotAlgorithm::forwardDynamics	(	const std::vector< double > &	q,
		const std::vector< double > &	torqs
	)

Forward dynamics

Parameters

q	Joint angles
torqs

Returns

Calculation result and error code

Exceptions

arcs::common_interface::AuboException

Python function prototype

forwardDynamics(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float], arg1: List[float]) -> Tuple[List[float], int]

Lua function prototype

forwardDynamics(q: table, torqs: table) -> table, number

Lua example

Dynamics, fk_result = forwardDynamics({3.083,1.227,1.098,0.670,-1.870,-0.397},{0.0,0.0,0.0,0.0,0.0,0.0})

forwardDynamics1()

ResultWithErrno arcs::common_interface::RobotAlgorithm::forwardDynamics1	(	const std::vector< double > &	q,
		const std::vector< double > &	torqs,
		const std::vector< double > &	tcp_offset
	)

Forward dynamics based on the given TCP offset

Parameters

q	Joint angles
torqs
tcp_offset	TCP offset

Returns

Calculation result and error code, same as forwardDynamics

Exceptions

arcs::common_interface::AuboException

Python function prototype

forwardDynamics(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float], arg1: List[float], arg2: List[float]) -> Tuple[List[float], int]

Lua function prototype

forwardDynamics1(q: table, torqs: table, tcp_offset: table) -> table, number

Lua example

Dynamics, fk_result = forwardDynamics1({3.083,1.227,1.098,0.670,-1.870,-0.397},{0.0,0.0,0.0,0.0,0.0,0.0},{0.0,0.13201,0.03879,0,0,0})

forwardKinematics()

ResultWithErrno arcs::common_interface::RobotAlgorithm::forwardKinematics

(

const std::vector< double > &

q

)

Forward kinematics, based on the activated TCP offset (the most recently set via setTcpOffset) Input joint angles, output TCP pose

Parameters

q	Joint angles

Returns

TCP pose and whether the result is valid The first parameter of the return value is the forward kinematics result, the second is the error code. Error codes are as follows: 0 - Success -1 - The status of the robot is incorrect (not initialized yet, you can try calling it again) -5 - The input joint angles is invalid (dimension error)

Exceptions

arcs::common_interface::AuboException

Python function prototype

forwardKinematics(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float]) -> Tuple[List[float], int]

Lua function prototype

forwardKinematics(q: table) -> table, number

Lua example

pose, fk_result = forwardKinematics({3.083,1.227,1.098,0.670,-1.870,-0.397})

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.forwardKinematics","params":[[3.083688522170976,1.2273215976885394,1.098072739631141,0.6705738810610149,-1.870715392248607,-0.39708546603119627]],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":[[0.7137448715395925,0.08416057568819092,0.6707994191515292,2.4599818776908724,0.4789772388601265,1.6189630435878408],0]}

forwardKinematics1()

ResultWithErrno arcs::common_interface::RobotAlgorithm::forwardKinematics1	(	const std::vector< double > &	q,
		const std::vector< double > &	tcp_offset
	)

Forward kinematics Input joint angles, output TCP pose

Parameters

q	Joint angles
tcp_offset	TCP offset

Returns

TCP pose and whether the result is valid The first parameter of the return value is the forward kinematics result, the second is the error code. Error codes are as follows: 0 - Success -1 - The status of the robot is incorrect (not initialized yet, you can try calling it again) -5 - The input joint angles or tcp offset is invalid (dimension error)

Exceptions

arcs::common_interface::AuboException

Python function prototype

forwardKinematics(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float], arg1: List[float]) -> Tuple[List[float], int]

Lua function prototype

forwardKinematics1(q: table, tcp_offset: table) -> table, number

Lua example

pose, fk_result = forwardKinematics1({3.083,1.227,1.098,0.670,-1.870,-0.397},{0.0,0.13201,0.03879,0,0,0})

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.forwardKinematics1","params":[[3.083688522170976,1.2273215976885394,1.098072739631141,0.6705738810610149,-1.870715392248607,-0.39708546603119627],[0.0, 0.13201,0.03879,0,0,0]],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":[[0.7137636726659518,0.0837705432006433,0.6710022027216355,2.459981877690872,0.4789772388601267,1.6189630435878408],0]}

Since

0.24.1

forwardKinematicsAll()

ResultWithErrno1 arcs::common_interface::RobotAlgorithm::forwardKinematicsAll

(

const std::vector< double > &

q

)

Forward kinematics, based on the activated TCP offset (the most recently set via setTcpOffset) Input joint angles, output links poses

Parameters

q	Joint angles

Returns

links poses and whether the result is valid The first parameter of the return value is the forward kinematics result, the second is the error code. Error codes are as follows: 0 - Success -1 - The status of the robot is incorrect (not initialized yet, you can try calling it again) -5 - The input joint angles is invalid (dimension error)

Exceptions

arcs::common_interface::AuboException

Python function prototype

forwardKinematicsAll(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float]) -> Tuple[List[List[float]], int]

Lua function prototype

forwardKinematicsAll(q: table) -> table, number

Lua example

pose, fk_result = forwardKinematicsAll({3.083,1.227,1.098,0.670,-1.870,-0.397})

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.forwardKinematicsAll","params":{"q":[-7.32945e-11,-0.261799,1.74533,0.436332,1.5708,-2.14136e-10]},"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":[[[0.0010004,0.0,0.122,0.0,0.0,3.141592653589793], [0.0010003999910823934,-0.12166795404953117,0.12205392567412496,1.5690838552993878,-1.3089969602251492,0.0016541204887245322], [0.10659809449330016,-0.12166124765791932,0.5161518260534821,-1.5718540206872664,0.43633111081725523,-0.002370419930605744], [0.4482255342315581,-0.1226390142692,0.3568490758201224,-0.000788980482890453,1.5665204619271216,-1.5719618592940798], [0.5519603828181741,-0.12282266347465487,0.35639753697117343,1.5707938201843654,0.0042721909279596635,1.569044569428874], [0.5513243939877184,-0.12401224959696328,0.2615193425222568,-3.1349118101994096,0.004272190926529066,1.569044569643007], [0.7494883076798231,-0.025647479212994567,-0.04023458911333461,-3.1349118101994096,0.004272190926529066,1.569044569643007]],0]}

forwardToolKinematics()

ResultWithErrno arcs::common_interface::RobotAlgorithm::forwardToolKinematics

(

const std::vector< double > &

q

)

Forward kinematics (ignoring TCP offset)

Parameters

q	Joint angles

Returns

Flange center pose and whether the result is valid The first parameter of the return value is the forward kinematics result, the second is the error code. Error codes are as follows: 0 - Success -1 - The status of the robot is incorrect (not initialized yet, you can try calling it again) -5 - The input joint angles is invalid (dimension error)

Lua function prototype

forwardToolKinematics(q: table) -> table, number

Lua example

pose, fk_result = forwardToolKinematics({3.083,1.227,1.098,0.670,-1.870,-0.397})

Exceptions

arcs::common_interface::AuboException

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.forwardToolKinematics","params":[[3.083688522170976,1.2273215976885394,1.098072739631141,0.6705738810610149,-1.870715392248607,-0.39708546603119627]],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":[[0.5881351149440136,0.05323734739426938,0.623922550656701,2.4599818776908724,0.4789772388601265,1.6189630435878408],0]}

frictionModelIdentify()

bool arcs::common_interface::RobotAlgorithm::frictionModelIdentify	(	const std::vector< std::vector< double > > &	q,
		const std::vector< std::vector< double > > &	qd,
		const std::vector< std::vector< double > > &	qdd,
		const std::vector< std::vector< double > > &	temp
	)

Joint friction model identification algorithm interface

Parameters

q	Joint positions
qd	Joint velocities
qdd	Joint accelerations
temp	Joint temperatures

Returns

Whether identification succeeded

Exceptions

arcs::common_interface::AuboException

Python function prototype

frictionModelIdentify(self: pyaubo_sdk.RobotAlgorithm, arg0: List[List[float]], arg1: List[List[float]], arg2: List[List[float]], arg3: List[List[float]]) -> bool

Lua function prototype

frictionModelIdentify(q: table, qd: table, qdd: table, temp: table) -> boolean

Lua example

Identify_result = frictionModelIdentify({3.083,1.227,1.098,0.670,-1.870,-0.397}, {10.0,10.0,10.0,10.0,10.0,10.0},{20.0,20.0,20.0,20.0,20.0,20.0},{30.0,30.0,30.0,30.0,30.0,30.0})

generatePayloadIdentifyTraj()

int arcs::common_interface::RobotAlgorithm::generatePayloadIdentifyTraj	(	const std::string &	name,
		const TrajConfig &	traj_conf
	)

Generate excitation trajectory for payload identification This interface internally calls pathBufferAppend The offline trajectory is stored in the buffer, and can be executed later via movePathBuffer

Parameters

name

Trajectory name

traj_conf

Joint trajectory constraints traj_conf.move_axis: Moving axes Since users may not want large multi-joint movements during payload identification, it is recommended to use traj_conf.move_axis=LoadIdentifyMoveAxis::Joint_4_6; traj_conf.init_joint: Initial joint angles. To avoid singularity issues near joint 5 zero position, set abs(traj_conf.init_joint[4]) >= 0.3(rad), preferably close to 1.57(rad). Other joints can be set arbitrarily. traj_conf.lower_joint_bound, traj_conf.upper_joint_bound: Joint angle limits, dimensions should match config.move_axis. Recommended: upper_joint_bound=2, lower_joint_bound=-2 config.max_velocity, config.max_acceleration: Joint velocity and acceleration limits, dimensions should match config.move_axis. For safety and driver performance, recommended: max_velocity=3, max_acceleration=5

Returns

Returns 0 on success; error code on failure AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

getPayloadIdentifyResult()

Payload arcs::common_interface::RobotAlgorithm::getPayloadIdentifyResult

(

)

Get the result of payload identification

Returns

Exceptions

arcs::common_interface::AuboException

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.getPayloadIdentifyResult","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":[0.0,[],[],[]]}

inverseKinematics()

ResultWithErrno arcs::common_interface::RobotAlgorithm::inverseKinematics	(	const std::vector< double > &	qnear,
		const std::vector< double > &	pose
	)

Inverse kinematics Input TCP pose and reference joint angles, output joint angles

Parameters

qnear	Reference joint angles
pose	TCP pose

Returns

Joint angles and whether the inverse kinematics result is valid The first parameter of the return value is the inverse kinematics result, the second is the error code. Error codes are as follows: 0 - Success -1 - The status of the robot is incorrect (not initialized yet, you can try calling it again) -5 - The input reference joint angles or tcp pose is invalid (dimension error) -23 - Inverse kinematics calculation does not converge, calculation error -24 - Inverse kinematics calculation exceeds robot limits -25 - Inverse kinematics input configuration error -26 - Inverse kinematics Jacobian calculation failed -27 - Analytical solution exists but none satisfy the selection criteria -28 - Unknown error in inverse kinematics If the error code is not 0, the first parameter of the return value is the input reference joint angles qnear

Exceptions

arcs::common_interface::AuboException

Python function prototype

inverseKinematics(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float], arg1: List[float]) -> Tuple[List[float], int]

Lua function prototype

inverseKinematics(qnear: table, pose: table) -> table, int

Lua example

joint,ik_result = inverseKinematics({0,0,0,0,0,0},{0.81665,-0.20419,0.43873,-3.135,0.004,1.569})

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.inverseKinematics","params":[[0,0,0,0,0,0],[0.71374,0.08417,0.6708,2.46,0.479,1.619]],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":[[3.083688522170976,1.2273215976885394,1.098072739631141,0.6705738810610149,-1.870715392248607,-0.39708546603119627],0]}

inverseKinematics1()

ResultWithErrno arcs::common_interface::RobotAlgorithm::inverseKinematics1	(	const std::vector< double > &	qnear,
		const std::vector< double > &	pose,
		const std::vector< double > &	tcp_offset
	)

Inverse kinematics Input TCP pose and reference joint angles, output joint angles

Parameters

qnear	Reference joint angles
pose	TCP pose
tcp_offset	TCP offset

Returns

Joint angles and whether the result is valid, same as inverseKinematics

Exceptions

arcs::common_interface::AuboException

Python function prototype

inverseKinematics1(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float], arg1: List[float], arg2: List[float]) -> Tuple[List[float], int]

Lua function prototype

inverseKinematics1(qnear: table, pose: table, tcp_offset: table) -> table, int

Lua example

joint,ik_result = inverseKinematics1({0,0,0,0,0,0},{0.81665,-0.20419,0.43873,-3.135,0.004,1.569},{0.04,-0.035,0.1,0,0,0})

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.inverseKinematics1","params":[[0,0,0,0,0,0],[0.71374,0.08417,0.6708,2.46,0.479,1.619],[0.0, 0.13201,0.03879,0,0,0]],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":[[3.084454549595208,1.2278265883747776,1.0986586440159576,0.6708221281915528,-1.8712459848518375,-0.3965111476861782],0]}

inverseKinematicsAll()

ResultWithErrno1 arcs::common_interface::RobotAlgorithm::inverseKinematicsAll

(

const std::vector< double > &

pose

)

Solve all inverse kinematics solutions based on the activated TCP offset

Parameters

pose

TCP pose

Returns

Joint angles and whether the result is valid The returned error code is the same as inverseKinematics

Exceptions

arcs::common_interface::AuboException

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.inverseKinematicsAll","params":[[0.71374,0.08417,0.6708,2.46,0.479,1.619]],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":[[[3.083688522170976,1.2273215976885394,1.098072739631141,0.6705738810610149,-1.870715392248607,-0.39708546603119627], [3.081056801097411,0.17985038037652645,-1.0991717292664145,-0.4806460200109001,-1.869182975312333,-0.402066016835411], [0.4090095277807992,-0.1623365054641728,1.081775890307679,0.26993250263224805,0.9738255833642309,0.000572556627720845], [0.4116449425067969,-1.1931664523907126,-1.0822709833775688,-0.8665964106161371,0.9732141569888207,0.006484919654891586]],0]}

inverseKinematicsAll1()

ResultWithErrno1 arcs::common_interface::RobotAlgorithm::inverseKinematicsAll1	(	const std::vector< double > &	pose,
		const std::vector< double > &	tcp_offset
	)

Solve all inverse kinematics solutions based on the provided TCP offset

Parameters

pose	TCP pose
tcp_offset	TCP offset

Returns

Joint angles and whether the result is valid, same as inverseKinematicsAll The returned error code is the same as inverseKinematics

Exceptions

arcs::common_interface::AuboException

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.inverseKinematicsAll1","params":[[0.71374,0.08417,0.6708,2.46,0.479,1.619],[0.0, 0.13201,0.03879,0,0,0]],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":[[[3.084454549595208,1.2278265883747776,1.0986586440159576,0.6708221281915528,-1.8712459848518375,-0.3965111476861782], [3.0818224058231602,0.17980369843203092,-1.0997576631122077,-0.48102131527371267,-1.8697135490338517,-0.40149459722060593], [0.40972960018231047,-0.16226026285489026,1.0823403816496,0.2700204411869427,0.9734251963887868,0.0012903686498106507], [0.41236549588802296,-1.193621392918341,-1.0828346680836718,-0.8671097369314354,0.972815367289568,0.007206851371073478]],0]}

inverseToolKinematics()

ResultWithErrno arcs::common_interface::RobotAlgorithm::inverseToolKinematics	(	const std::vector< double > &	qnear,
		const std::vector< double > &	pose
	)

Inverse kinematics (ignoring TCP offset)

Parameters

qnear	Reference joint angles
pose	Flange center pose

Returns

Joint angles and whether the result is valid The first parameter of the return value is the inverse kinematics result, the second is the error code. Error codes are as follows: 0 - Success -1 - The status of the robot is incorrect (not initialized yet, you can try calling it again) -5 - The input reference joint angles or pose is invalid (dimension error)

Exceptions

arcs::common_interface::AuboException

Lua function prototype

inverseToolKinematics(qnear: table, pose: table) -> table, int

Lua example

joint, ik_result = inverseToolKinematics({0,0,0,0,0,0},{0.58815,0.0532,0.62391,2.46,0.479,1.619})

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.inverseToolKinematics","params":[[0,0,0,0,0,0],[0.58815,0.0532,0.62391,2.46,0.479,1.619]],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":[[3.083609363838651,1.22736129158332,1.098095443698268,0.6705395395487186,-1.8706605026855632,-0.39714507002376465],0]}

inverseToolKinematicsAll()

ResultWithErrno1 arcs::common_interface::RobotAlgorithm::inverseToolKinematicsAll

(

const std::vector< double > &

pose

)

Inverse kinematics (ignoring TCP offset)

Parameters

qnear	Reference joint angles
pose	Flange center pose

Returns

Joint angles and whether the result is valid

Exceptions

arcs::common_interface::AuboException

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.inverseToolKinematicsAll","params":[[0.58815,0.0532,0.62391,2.46,0.479,1.619]],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":[[[3.083609363838651,1.22736129158332,1.098095443698268,0.6705395395487186,-1.8706605026855632,-0.39714507002376465], [3.0809781797426523,0.17987122696706134,-1.0991932793263717,-0.4807053707530958,-1.8691282890274434,-0.40212516672751814], [0.40892195618737215,-0.16235398607358653,1.081812753177426,0.27003586475871766,0.9738744130114284,0.00048462518316674287], [0.41155633414333076,-1.1932173012004512,-1.082306542045813,-0.8665312056504818,0.9732632365861417,0.0063958311601771175]],0]}

pathBlend3Points()

std::vector< std::vector< double > > arcs::common_interface::RobotAlgorithm::pathBlend3Points	(	int	type,
		const std::vector< double > &	q_start,
		const std::vector< double > &	q_via,
		const std::vector< double > &	q_to,
		double	r,
		double	d
	)

Solve the blended trajectory points

Parameters

type	0-movej and movej 1-movej and movel 2-movel and movej 3-movel and movel
q_start	Start point before blending
q_via	Blending point
q_to	End point after blending
r	Blend radius at q_via
d	Sampling distance

Returns

Discrete trajectory points (x, y, z) of the blend segment at q_via in Cartesian space

Exceptions

arcs::common_interface::AuboException

Python function prototype

pathBlend3Points(self: pyaubo_sdk.RobotAlgorithm, arg0: int, arg1: List[float], arg2: List[float], arg3: List[float], arg4: float, arg5: float) -> List[List[float]]

Lua function prototype

pathBlend3Points(type: number, q_start: table, q_via: table, q_to: table, r: number, d: number) -> table, number

Lua example

q_via , num = pathBlend3Points(1,{0.58815,0.0532,0.62391,2.46,0.479,1.619},{0.0,-0.2618,1.7453,0.4364,1.5711,0.0}, {0.3234,-0.5405,1.5403,0.5881,1.2962,0.7435},0.25,0.02)

pathMovej()

std::vector< std::vector< double > > arcs::common_interface::RobotAlgorithm::pathMovej	(	const std::vector< double > &	q1,
		double	r1,
		const std::vector< double > &	q2,
		double	r2,
		double	d
	)

Solve the trajectory points between movej

Parameters

q1	Start point of movej
r1	Blend radius at q1
q2	End point of movej
r2	Blend radius at q2
d	Sampling distance

Returns

Discrete trajectory points (x, y, z, rx, ry, rz) between q1 and q2 in Cartesian space

Exceptions

arcs::common_interface::AuboException

Python function prototype

pathMovej(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float], arg1: float, arg2: List[float], arg3: float, arg4: float) -> List[List[float]]

Lua function prototype

pathMovej(q1: table, r1: number, q2: table, r2: number, d: number) -> table, number

Lua example

path , num = pathMovej({0.0,-0.2618,1.7453,0.4364,1.5711,0.0},0.25,{0.3234,-0.5405,1.5403,0.5881,1.2962,0.7435},0.03,0.2)

pathMoveS()

std::vector< std::vector< double > > arcs::common_interface::RobotAlgorithm::pathMoveS	(	const std::vector< std::vector< double > > &	qs,
		double	d
	)

Solve the trajectory points for moveS

pathMoveS

Parameters

qs	Spline trajectory generation point set
d	Sampling distance

Returns

Exceptions

arcs::common_interface::AuboException

payloadCalculateFinished()

int arcs::common_interface::RobotAlgorithm::payloadCalculateFinished

(

)

Whether payload identification calculation is finished

Returns

0 if finished; 1 if in progress; <0 if failed;

Exceptions

arcs::common_interface::AuboException

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.payloadCalculateFinished","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

payloadIdentify()

int arcs::common_interface::RobotAlgorithm::payloadIdentify	(	const std::string &	data_file_no_payload,
		const std::string &	data_file_with_payload
	)

Payload identification algorithm interface based on current

Requires collecting position, velocity, and current data when running the excitation trajectory without load, as well as with load.

Parameters

data_file_no_payload	File path of joint data when running the excitation trajectory without load (.csv format), 18 columns in total: 6 joint positions, 6 joint velocities, 6 joint currents
data_file_with_payload	File path of joint data when running the excitation trajectory with load (.csv format), 18 columns in total: 6 joint positions, 6 joint velocities, 6 joint currents

Returns

Identification result

Exceptions

arcs::common_interface::AuboException

Python function prototype

payloadIdentify(self: pyaubo_sdk.RobotAlgorithm, arg0: List[List[float]], arg1: List[List[float]]) -> Tuple[List[float], List[float], float, List[float]]

Lua function prototype

payloadIdentify(data_with_payload: table, data_with_payload: table) -> table

payloadIdentify1()

int arcs::common_interface::RobotAlgorithm::payloadIdentify1

(

const std::string &

file_name

)

New version of payload identification algorithm interface based on current

Requires collecting at least three points of position, velocity, acceleration, current, temperature, end sensor data, and base data when running with load

Parameters

data	File path of joint data with load (.csv format), 42 columns in total, end sensor data and base data default to 0

Returns

Identification result

payloadIdentifyTrajGenFinished()

int arcs::common_interface::RobotAlgorithm::payloadIdentifyTrajGenFinished

(

)

Whether payload identification trajectory generation is finished

Returns

0 if finished; 1 if in progress; <0 if failed;

Exceptions

arcs::common_interface::AuboException

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.payloadIdentifyTrajGenFinished","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

Member Data Documentation

d_

void* arcs::common_interface::RobotAlgorithm::d_

protected

Definition at line 1387 of file robot_algorithm.h.

---

The documentation for this class was generated from the following file:

• include/aubo/robot/robot_algorithm.h