1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
|
/*
* Copyright (c) 2011-2022, The DART development contributors
* All rights reserved.
*
* The list of contributors can be found at:
* https://github.com/dartsim/dart/blob/master/LICENSE
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#include "Controller.hpp"
//==============================================================================
Controller::Controller(
dart::dynamics::SkeletonPtr _robot, dart::dynamics::BodyNode* _endEffector)
: mRobot(_robot), mEndEffector(_endEffector)
{
assert(_robot != nullptr);
assert(_endEffector != nullptr);
int dof = mRobot->getNumDofs();
mForces.setZero(dof);
mKp.setZero();
mKv.setZero();
for (int i = 0; i < 3; ++i)
{
mKp(i, i) = 750.0;
mKv(i, i) = 250.0;
}
// Remove position limits
for (int i = 0; i < dof; ++i)
_robot->getJoint(i)->setLimitEnforcement(false);
// Set joint damping
for (int i = 0; i < dof; ++i)
_robot->getJoint(i)->setDampingCoefficient(0, 0.5);
}
//==============================================================================
Controller::~Controller() {}
//==============================================================================
void Controller::update(const Eigen::Vector3d& _targetPosition)
{
using namespace dart;
// Get equation of motions
Eigen::Vector3d x = mEndEffector->getTransform().translation();
Eigen::Vector3d dx = mEndEffector->getLinearVelocity();
Eigen::MatrixXd invM = mRobot->getInvMassMatrix(); // n x n
Eigen::VectorXd Cg = mRobot->getCoriolisAndGravityForces(); // n x 1
math::LinearJacobian Jv = mEndEffector->getLinearJacobian(); // 3 x n
math::LinearJacobian dJv = mEndEffector->getLinearJacobianDeriv(); // 3 x n
Eigen::VectorXd dq = mRobot->getVelocities(); // n x 1
// Compute operational space values
Eigen::MatrixXd A = Jv * invM; // 3 x n
Eigen::Vector3d b = /*-(A*Cg) + */ dJv * dq; // 3 x 1
Eigen::MatrixXd M2 = Jv * invM * Jv.transpose(); // 3 x 3
// Compute virtual operational space spring force at the end effector
Eigen::Vector3d f = -mKp * (x - _targetPosition) - mKv * dx;
// Compute desired operational space acceleration given f
Eigen::Vector3d desired_ddx = b + M2 * f;
// Gravity compensation
mForces = Cg;
// Compute joint space forces to acheive the desired acceleration by solving:
// A tau + b = desired_ddx
mForces += A.colPivHouseholderQr().solve(desired_ddx - b);
// Apply the joint space forces to the robot
mRobot->setForces(mForces);
}
//==============================================================================
dart::dynamics::SkeletonPtr Controller::getRobot() const
{
return mRobot;
}
//==============================================================================
dart::dynamics::BodyNode* Controller::getEndEffector() const
{
return mEndEffector;
}
//==============================================================================
void Controller::keyboard(unsigned char /*_key*/, int /*_x*/, int /*_y*/) {}
|
