Implementation of a four-bar-linkage transmission. More...
#include <four_bar_linkage_transmission.h>
Public Member Functions | |
void | actuatorToJointAbsolutePosition (const ActuatorData &act_data, JointData &jnt_data) override |
Transform absolute encoder values from actuator to joint space. More... | |
void | actuatorToJointEffort (const ActuatorData &act_data, JointData &jnt_data) override |
Transform effort variables from actuator to joint space. More... | |
void | actuatorToJointPosition (const ActuatorData &act_data, JointData &jnt_data) override |
Transform position variables from actuator to joint space. More... | |
void | actuatorToJointTorqueSensor (const ActuatorData &act_data, JointData &jnt_data) override |
Transform torque sensor values from actuator to joint space. More... | |
void | actuatorToJointVelocity (const ActuatorData &act_data, JointData &jnt_data) override |
Transform velocity variables from actuator to joint space. More... | |
FourBarLinkageTransmission (const std::vector< double > &actuator_reduction, const std::vector< double > &joint_reduction, const std::vector< double > &joint_offset=std::vector< double >(2, 0.0)) | |
const std::vector< double > & | getActuatorReduction () const |
const std::vector< double > & | getJointOffset () const |
const std::vector< double > & | getJointReduction () const |
bool | hasActuatorToJointAbsolutePosition () const override |
bool | hasActuatorToJointTorqueSensor () const override |
void | jointToActuatorEffort (const JointData &jnt_data, ActuatorData &act_data) override |
Transform effort variables from joint to actuator space. More... | |
void | jointToActuatorPosition (const JointData &jnt_data, ActuatorData &act_data) override |
Transform position variables from joint to actuator space. More... | |
void | jointToActuatorVelocity (const JointData &jnt_data, ActuatorData &act_data) override |
Transform velocity variables from joint to actuator space. More... | |
std::size_t | numActuators () const override |
std::size_t | numJoints () const override |
Public Member Functions inherited from transmission_interface::Transmission | |
virtual | ~Transmission ()=default |
Protected Attributes | |
std::vector< double > | act_reduction_ |
std::vector< double > | jnt_offset_ |
std::vector< double > | jnt_reduction_ |
Implementation of a four-bar-linkage transmission.
This transmission relates two actuators and two joints through a mechanism in which the state of the first joint only depends on the first actuator, while the second joint depends on both actuators, as illustrated below. Although the class name makes specific reference to the four-bar-linkage, there are other mechanical layouts that yield the same behavior, such as the remote actuation example also depicted below.
Actuator to joint |
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Joint to actuator |
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where:
Definition at line 117 of file four_bar_linkage_transmission.h.
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inline |
actuator_reduction | Reduction ratio of actuators. |
joint_reduction | Reduction ratio of joints. |
joint_offset | Joint position offset used in the position mappings. |
Definition at line 224 of file four_bar_linkage_transmission.h.
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overridevirtual |
Transform absolute encoder values from actuator to joint space.
[in] | act_data | Actuator-space variables. |
[out] | jnt_data | Joint-space variables. |
Reimplemented from transmission_interface::Transmission.
Definition at line 286 of file four_bar_linkage_transmission.h.
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inlineoverridevirtual |
Transform effort variables from actuator to joint space.
[in] | act_data | Actuator-space variables. |
[out] | jnt_data | Joint-space variables. |
Implements transmission_interface::Transmission.
Definition at line 246 of file four_bar_linkage_transmission.h.
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inlineoverridevirtual |
Transform position variables from actuator to joint space.
[in] | act_data | Actuator-space variables. |
[out] | jnt_data | Joint-space variables. |
Implements transmission_interface::Transmission.
Definition at line 272 of file four_bar_linkage_transmission.h.
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overridevirtual |
Transform torque sensor values from actuator to joint space.
[in] | act_data | Actuator-space variables. |
[out] | jnt_data | Joint-space variables. |
Reimplemented from transmission_interface::Transmission.
Definition at line 301 of file four_bar_linkage_transmission.h.
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inlineoverridevirtual |
Transform velocity variables from actuator to joint space.
[in] | act_data | Actuator-space variables. |
[out] | jnt_data | Joint-space variables. |
Implements transmission_interface::Transmission.
Definition at line 259 of file four_bar_linkage_transmission.h.
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inline |
Definition at line 214 of file four_bar_linkage_transmission.h.
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inline |
Definition at line 216 of file four_bar_linkage_transmission.h.
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inline |
Definition at line 215 of file four_bar_linkage_transmission.h.
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inlineoverridevirtual |
Reimplemented from transmission_interface::Transmission.
Definition at line 211 of file four_bar_linkage_transmission.h.
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inlineoverridevirtual |
Reimplemented from transmission_interface::Transmission.
Definition at line 212 of file four_bar_linkage_transmission.h.
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inlineoverridevirtual |
Transform effort variables from joint to actuator space.
[in] | jnt_data | Joint-space variables. |
[out] | act_data | Actuator-space variables. |
Implements transmission_interface::Transmission.
Definition at line 316 of file four_bar_linkage_transmission.h.
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inlineoverridevirtual |
Transform position variables from joint to actuator space.
[in] | jnt_data | Joint-space variables. |
[out] | act_data | Actuator-space variables. |
Implements transmission_interface::Transmission.
Definition at line 342 of file four_bar_linkage_transmission.h.
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inlineoverridevirtual |
Transform velocity variables from joint to actuator space.
[in] | jnt_data | Joint-space variables. |
[out] | act_data | Actuator-space variables. |
Implements transmission_interface::Transmission.
Definition at line 329 of file four_bar_linkage_transmission.h.
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inlineoverridevirtual |
Implements transmission_interface::Transmission.
Definition at line 209 of file four_bar_linkage_transmission.h.
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inlineoverridevirtual |
Implements transmission_interface::Transmission.
Definition at line 210 of file four_bar_linkage_transmission.h.
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protected |
Definition at line 219 of file four_bar_linkage_transmission.h.
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protected |
Definition at line 221 of file four_bar_linkage_transmission.h.
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protected |
Definition at line 220 of file four_bar_linkage_transmission.h.