implemented Jacobian calculation
This commit is contained in:
HRS_D
183
CMakeLists.txt.user
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183
CMakeLists.txt.user
Normal file
@@ -0,0 +1,183 @@
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51
launch/rviz_config/test.rviz
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51
launch/rviz_config/test.rviz
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@@ -0,0 +1,51 @@
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<? xml version ="1.0"? >
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< robot name =" robot0 " >
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< link name =" world " / >
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< joint name =" joint_0 " type =" fixed " >
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< parent link =" world "/ >
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< child link =" link_0 "/ >
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="3 .141 59265 3589 7931 " / >
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< child link =" end_effector "/ >
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</ joint >
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< link name =" end_effector " / >
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</ robot >
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94
script/cartesian_controller.py
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94
script/cartesian_controller.py
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@@ -0,0 +1,94 @@
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#! /usr/bin/env python
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import os
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import rospy
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import numpy as np
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import sys
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from naoqi import ALProxy
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import motion
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motionProxy = 0
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def get_transform(joint):
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frame = motion.FRAME_TORSO
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useSensorValues = True
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result = motionProxy.getTransform(joint,frame,useSensorValues)
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result = np.matrix(result)
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print result
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result = np.reshape(result, (4,4))
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print result
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return result
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def cartesian_position(joint):
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print 'function'
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frame = motion.FRAME_TORSO
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useSensorValues = True
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result = motionProxy.getPosition(joint, frame, useSensorValues)
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#print result
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return np.array(result[:3])
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def jacobian():
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# get current positions
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end_position = cartesian_position('LArm')
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shoulder_position = cartesian_position('LShoulderPitch')
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bicep_position = cartesian_position('LShoulderRoll')
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elbow_position = cartesian_position('LElbowYaw')
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forearm_position = cartesian_position('LElbowRoll')
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# get transformed rotation axes
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x_axis = np.array([[1, 0, 0, 1]]).T
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y_axis = np.array([[0, 1, 0, 1]]).T
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z_axis = np.array([[0, 0, 1, 1]]).T
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#print np.shape(x_axis)
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#print np.shape(get_transform('LShoulderPitch'))
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shoulder_axis = get_transform('LShoulderPitch').dot(y_axis)
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bicep_axis = get_transform('LShoulderRoll').dot(z_axis)
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elbow_axis = get_transform('LElbowYaw').dot(x_axis)
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forearm_axis = get_transform('LElbowRoll').dot(z_axis)
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# get basis vectors of jacobian
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shoulder_basis = np.cross(shoulder_axis[:3].flatten(), end_position - shoulder_position)
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bicep_basis = np.cross(bicep_axis[:3].flatten(), end_position - bicep_position)
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elbow_basis = np.cross(elbow_axis[:3].flatten(), end_position - elbow_position)
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forearm_basis = np.cross(forearm_axis[:3].flatten(), end_position - forearm_position)
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print shoulder_basis.T
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# build jacobian matrix
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jacobian = np.concatenate([shoulder_basis, bicep_basis, elbow_basis, forearm_basis], axis=0).T
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print np.shape(jacobian)
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print 'jacobian'
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print jacobian
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return jacobian
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def pseudo_inverse(jacobian):
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return np.linalg.pinv(jacobian)
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if __name__ == '__main__':
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motionProxy = ALProxy("ALMotion", os.environ['NAO_IP'], 9559)
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jacob = jacobian()
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print jacob
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jacob = pseudo_inverse(jacob)
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print(jacob)
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#rospy.init_node('cartesian_controller')
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#rospy.spin()
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60
src/NAO_Jacobian.cpp
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60
src/NAO_Jacobian.cpp
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#include <Vector3.h>
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using namespace std;
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// Calculate the Jacobian Matrix for the NAO
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// inputs: original angles tau1 - tau4 and new angles tau1' - tau4'
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// original endeffector position e1 - e4 and new endeffector position e1' - e4'
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typedef struct position{
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float x;
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float y;
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float z;
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}position;
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typedef struct angles{
|
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float tau_1;
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float tau_2;
|
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float tau_3;
|
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float tau_4;
|
||||
}angles;
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angles a_end, a, a_diff;
|
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position e_end, e, e_diff;
|
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e_diff = diff(e_end, e);
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a_diff = diff(a_end, a);
|
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vector<float> postion_vec;
|
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postion_vec.push_back(e_diff.x);
|
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postion_vec.push_back(e_diff.y);
|
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postion_vec.push_back(e_diff.z);
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vector<float> angles_vec;
|
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angles_vec.push_back(a_diff.tau_1);
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angles_vec.push_back(a_diff.tau_2);
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angles_vec.push_back(a_diff.tau_3);
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||||
angles_vec.push_back(a_diff.tau_4);
|
||||
vector<vector<float>> Jacobian;
|
||||
|
||||
|
||||
for (int i = 0; i<3; i++) {
|
||||
for(int j = 0; j<4; j++ ) {
|
||||
Jacobian[i][j] = postion_vec[i]/angles_vec[j];
|
||||
}
|
||||
}
|
||||
|
||||
position diff(position end, position actual){
|
||||
position temp;
|
||||
temp.x = end.x - actual.x;
|
||||
temp.y = end.y - actual.y;
|
||||
temp.z = end.z - actual.z;
|
||||
return temp;
|
||||
}
|
||||
|
||||
angles diff(angles end, angles actual){
|
||||
angles temp;
|
||||
temp.tau_1 = end.tau_1 - actual.tau_1;
|
||||
temp.tau_2 = end.tau_2 - actual.tau_2;
|
||||
temp.tau_3 = end.tau_3 - actual.tau_3;
|
||||
temp.tau_4 = end.tau_4 - actual.tau_4;
|
||||
|
||||
return temp;
|
||||
}
|
||||
Reference in New Issue
Block a user