Computer torque method controller class. More...

#include <controller.h>

Public Member Functions
	Computed_torque_method (const short dof=1)
	Constructor. More...

	Computed_torque_method (const Robot_basic &robot, const DiagonalMatrix &Kp, const DiagonalMatrix &Kd)
	Constructor. More...

short	set_Kd (const DiagonalMatrix &Kd)
	Assign the velocity error gain matrix . More...

short	set_Kp (const DiagonalMatrix &Kp)
	Assign the position error gain matrix . More...

ReturnMatrix	torque_cmd (Robot_basic &robot, const ColumnVector &qd, const ColumnVector &qpd, const ColumnVector &qppd)
	Output torque. More...

Private Attributes
int	dof
	Degree of freedom. More...

DiagonalMatrix	Kd
	Velocity error gain. More...

DiagonalMatrix	Kp
	Position error gain. More...

ColumnVector	q
	Robot joints positions. More...

ColumnVector	qp
	Robot joints velocity. More...

ColumnVector	qpp
	Robot joints acceleration. More...

ColumnVector	zero3
	$3\times 1$ zero vector. More...

Detailed Description

Computer torque method controller class.

The dynamic model of a robot manipulator can be expressed in joint space as

$B(q)\ddot{q} + C(q,\dot{q})\dot{q} + D\dot{q} + g(q) = \tau - J^T(q)f$

The driving torques can be expressed as

$\tau = B(q)\big(\ddot{q}_d + K_d(\dot{q}_d-\dot{q}) + K_p(q_d-q)\big) + C(q,\dot{q})\dot{q} + D\dot{q} + g(q) + J^T(q)f$

where $K_p$ , $K_d$ are diagonal positive definie matrix.

Definition at line 220 of file controller.h.

Constructor & Destructor Documentation

Computed_torque_method::Computed_torque_method ( const short dof = 1 )

Constructor.

Definition at line 513 of file controller.cpp.

Computed_torque_method::Computed_torque_method	(	const Robot_basic &	robot,
		const DiagonalMatrix &	Kp,
		const DiagonalMatrix &	Kd
	)

Constructor.

Definition at line 523 of file controller.cpp.

Member Function Documentation

short Computed_torque_method::set_Kd ( const DiagonalMatrix & Kd_ )

Assign the velocity error gain matrix $K_d(i,i)$ .

Returns: short: 0 or WRONG_SIZE if the matrix is not $dof \times dof$ .

Definition at line 571 of file controller.cpp.

short Computed_torque_method::set_Kp ( const DiagonalMatrix & Kp_ )

Assign the position error gain matrix $K_p(i,i)$ .

Returns: short: 0 or WRONG_SIZE if the matrix is not $dof \times dof$ .

Definition at line 588 of file controller.cpp.

ReturnMatrix Computed_torque_method::torque_cmd	(	Robot_basic &	robot,
		const ColumnVector &	qd,
		const ColumnVector &	qpd,
		const ColumnVector &	qppd
	)

Output torque.

Definition at line 537 of file controller.cpp.

Member Data Documentation

int Computed_torque_method::dof

private

Degree of freedom.

Definition at line 232 of file controller.h.

DiagonalMatrix Computed_torque_method::Kd

private

Velocity error gain.

Definition at line 237 of file controller.h.

DiagonalMatrix Computed_torque_method::Kp

private

Position error gain.

Definition at line 237 of file controller.h.

ColumnVector Computed_torque_method::q

private

Robot joints positions.

Definition at line 233 of file controller.h.

ColumnVector Computed_torque_method::qp

private

Robot joints velocity.

Definition at line 233 of file controller.h.

ColumnVector Computed_torque_method::qpp

private

Robot joints acceleration.

Definition at line 233 of file controller.h.

ColumnVector Computed_torque_method::zero3

private

$3\times 1$ zero vector.

Definition at line 233 of file controller.h.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation