Useful for calculating gripper-specific kinematic values. Based on Aaron Hulse's equations. More...

#include <GripperKinematics.h>

Public Member Functions
double	getAngleOffSingular (const double &encoderAngle, const double &jawAngle)
	Calculates the "over center value" gamma.
double	getEncoderAngle (const double &jawAngle)
	Calculates encoder angle using a 3rd order polynomial.
double	getMotorCurrentLimit (const double &encoderAngle, const double &jawAngle, const double &forceLimit)
	Calculates the motor current limit given the current orientation of the gripper.
	GripperKinematics ()
	GripperKinematics (const double l1, const double l2, const double l3, const double l4, const double minSliderPosition, const double ballScrewEfficiency, const double ballScrewMotionRatio, const double jawAngleZeroAdj1, const double jawAngleZeroAdj2, const double gripperLength, const double motorTorqueConstant, const double overCenterAngle, const double overCenterStatusBuffer, double coulombFrictionCurrentOffset, const double closeToZero, const bool beSilent=false)
	All distance values are provided in inches, and converted to meters in the constructor.
bool	isOverCenter (const double &encoderAngle, const double &jawAngle)
	Determines whether the gripper is mechanically over center.
bool	isOverCenterStatus (const double &encoderAngle, const double &jawAngle)
	Determines whether the gripper is mechanically over center.
void	setParameters (const double l1, const double l2, const double l3, const double l4, const double minSliderPosition, const double ballScrewEfficiency, const double ballScrewMotionRatio, const double jawAngleZeroAdj1, const double jawAngleZeroAdj2, const double gripperLength, const double motorTorqueConstant, const double overCenterAngle, const double overCenterStatusBuffer, double coulombFrictionCurrentOffset, const double closeToZero, const bool beSilent=false)
virtual	~GripperKinematics ()
Private Attributes
double	BALL_SCREW_EFFICIENCY
double	BALL_SCREW_FORCE_RATIO
double	BALL_SCREW_MOTION_RATIO
bool	BE_SILENT
double	CLOSE_TO_ZERO
double	COULOMB_FRICTION_CURRENT_OFFSET
double	GRIPPER_LENGTH
double	JAW_ANGLE_ZERO_ADJ
double	L1
double	L2
double	L3
double	L4
double	MIN_SLIDER_POSITION
double	MOTOR_TORQUE_CONSTANT
double	OVER_CENTER_ANGLE
double	OVER_CENTER_STATUS_BUFFER

Detailed Description

Useful for calculating gripper-specific kinematic values. Based on Aaron Hulse's equations.

Definition at line 14 of file GripperKinematics.h.

Constructor & Destructor Documentation

GripperKinematics::GripperKinematics ( ) [inline]

Definition at line 17 of file GripperKinematics.h.

GripperKinematics::GripperKinematics	(	const double	l1,
		const double	l2,
		const double	l3,
		const double	l4,
		const double	minSliderPosition,
		const double	ballScrewEfficiency,
		const double	ballScrewMotionRatio,
		const double	jawAngleZeroAdj1,
		const double	jawAngleZeroAdj2,
		const double	gripperLength,
		const double	motorTorqueConstant,
		const double	overCenterAngle,
		const double	overCenterStatusBuffer,
		double	coulombFrictionCurrentOffset,
		const double	closeToZero,
		const bool	beSilent = `false`
	)

All distance values are provided in inches, and converted to meters in the constructor.

Definition at line 9 of file GripperKinematics.cpp.

virtual GripperKinematics::~GripperKinematics ( ) [inline, virtual]

Definition at line 22 of file GripperKinematics.h.

Member Function Documentation

double GripperKinematics::getAngleOffSingular	(	const double &	encoderAngle,
		const double &	jawAngle
	)

Calculates the "over center value" gamma.

Definition at line 54 of file GripperKinematics.cpp.

double GripperKinematics::getEncoderAngle ( const double & jawAngle )

Calculates encoder angle using a 3rd order polynomial.

Definition at line 46 of file GripperKinematics.cpp.

double GripperKinematics::getMotorCurrentLimit	(	const double &	encoderAngle,
		const double &	jawAngle,
		const double &	forceLimit
	)

Calculates the motor current limit given the current orientation of the gripper.

Definition at line 259 of file GripperKinematics.cpp.

bool GripperKinematics::isOverCenter	(	const double &	encoderAngle,
		const double &	jawAngle
	)

Determines whether the gripper is mechanically over center.

Definition at line 243 of file GripperKinematics.cpp.

bool GripperKinematics::isOverCenterStatus	(	const double &	encoderAngle,
		const double &	jawAngle
	)

Determines whether the gripper is mechanically over center.

Definition at line 251 of file GripperKinematics.cpp.

void GripperKinematics::setParameters	(	const double	l1,
		const double	l2,
		const double	l3,
		const double	l4,
		const double	minSliderPosition,
		const double	ballScrewEfficiency,
		const double	ballScrewMotionRatio,
		const double	jawAngleZeroAdj1,
		const double	jawAngleZeroAdj2,
		const double	gripperLength,
		const double	motorTorqueConstant,
		const double	overCenterAngle,
		const double	overCenterStatusBuffer,
		double	coulombFrictionCurrentOffset,
		const double	closeToZero,
		const bool	beSilent = `false`
	)