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#ifndef SimTK_SIMBODY_EXAMPLE_UR10_H_
#define SimTK_SIMBODY_EXAMPLE_UR10_H_
/* -------------------------------------------------------------------------- *
* Simbody(tm) Example: Universal Robotics UR10 Arm *
* -------------------------------------------------------------------------- *
* This is part of the SimTK biosimulation toolkit originating from *
* Simbios, the NIH National Center for Physics-Based Simulation of *
* Biological Structures at Stanford, funded under the NIH Roadmap for *
* Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody. *
* *
* Portions copyright (c) 2014 Stanford University and the Authors. *
* Authors: Michael Sherman *
* Contributors: Jack Wang, Chris Dembia, John Hsu *
* *
* Licensed under the Apache License, Version 2.0 (the "License"); you may *
* not use this file except in compliance with the License. You may obtain a *
* copy of the License at http://www.apache.org/licenses/LICENSE-2.0. *
* *
* Unless required by applicable law or agreed to in writing, software *
* distributed under the License is distributed on an "AS IS" BASIS, *
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
* See the License for the specific language governing permissions and *
* limitations under the License. *
* -------------------------------------------------------------------------- */
#include "Simbody.h"
/* This is a Simbody model of the Universal Robotics UR10 6-dof manipulator arm.
See http://www.universal-robots.com.
The up direction is Z. The model has the following bodies (links in robot
parlance) and joints. All joints are pin joints:
base welded to ground
shoulder shoulder_pan joint to base, about Z
upper_arm shoulder_lift joint to shoulder, about Y
forearm elbow joint to upper_arm, about Y
wrist_1 wrist_1 joint to forearm, about Y
wrist_2 wrist_2 joint to wrist_1, about Z
wrist_3 wrist_3 joint to wrist_2, about Y
ee end effector welded to wrist_3
There is a torque motor at each joint, with limits to the torque and maximum
speed. All angles are restricted to -2Pi .. 2Pi (per Universal Robotics spec
sheet).
Joint Tmax(N-m) Vmax(rad/s)
shoulder_pan 330 2.16
shoulder_lift 330 2.16
elbow 150 3.15
wrist_1,2,3 54 3.2
*/
class UR10 : public SimTK::MultibodySystem {
public:
// Pass in the directory to use for getting geometry/xxx mesh files.
explicit UR10(const std::string& auxDir);
enum Link {
Ground = 0, // These are MobilizedBody indices.
Base = 1,
Shoulder = 2,
UpperArm = 3,
Forearm = 4,
Wrist1 = 5,
Wrist2 = 6,
Wrist3 = 7,
EndEffector = 8
};
static const int NumLinks = EndEffector + 1; // include ground
enum Coords {
PanCoord = 0, // These are the q and u coordinate indices
LiftCoord = 1,
ElbowCoord = 2,
Wrist1Coord = 3,
Wrist2Coord = 4,
Wrist3Coord = 5
};
static const int NumCoords = Wrist3Coord + 1;
void setAngleNoise(SimTK::State& state, SimTK::Real qNoise) const
{ m_qNoise.setValue(state, qNoise); }
void setRateNoise(SimTK::State& state, SimTK::Real uNoise) const
{ m_uNoise.setValue(state, uNoise); }
void setSampledAngles(SimTK::State& state, const SimTK::Vector& angles) const {
assert(angles.size() == NumCoords);
m_sampledAngles.setValue(state, angles);
}
void setSampledRates(SimTK::State& state, const SimTK::Vector& rates) const {
assert(rates.size() == NumCoords);
m_sampledRates.setValue(state, rates);
}
void setSampledEndEffectorPos(SimTK::State& state,
const SimTK::Vec3& pos) const
{ m_sampledEndEffectorPos.setValue(state, pos); }
SimTK::Real getAngleNoise(const SimTK::State& s) const
{ return m_qNoise.getValue(s); }
SimTK::Real getRateNoise(const SimTK::State& s) const
{ return m_uNoise.getValue(s); }
const SimTK::Vector& getSampledAngles(const SimTK::State& s) const
{ return m_sampledAngles.getValue(s); }
const SimTK::Vector& getSampledRates(const SimTK::State& s) const
{ return m_sampledRates.getValue(s); }
const SimTK::Vec3& getSampledEndEffectorPos(const SimTK::State& s) const
{ return m_sampledEndEffectorPos.getValue(s); }
// Return the Ground frame location of the body origin point of the
// EndEffector link.
SimTK::Vec3 getActualEndEffectorPosition(const SimTK::State& s) const
{ return m_bodies[EndEffector].getBodyOriginLocation(s); }
// Set a particular joint angle (in radians) in the given State.
void setJointAngle(SimTK::State& s, Coords which, SimTK::Real angle) const
{ s.updQ()[which] = angle; }
// Set a particular joint angular rate (in radians/s) in the given State.
void setJointRate(SimTK::State& s, Coords which, SimTK::Real rate) const
{ s.updU()[which] = rate; }
// Given a set of proposed actuator torques tau, make sure each is in
// range given the specifications for each actuator.
static void clampToLimits(SimTK::Vector& tau) {
SimTK::clampInPlace(-330, tau[PanCoord], 330);
SimTK::clampInPlace(-330, tau[LiftCoord], 330);
SimTK::clampInPlace(-150, tau[ElbowCoord], 150);
SimTK::clampInPlace( -54, tau[Wrist1Coord], 54);
SimTK::clampInPlace( -54, tau[Wrist2Coord], 54);
SimTK::clampInPlace( -54, tau[Wrist3Coord], 54);
}
const SimTK::SimbodyMatterSubsystem& getMatterSubsystem() const {return m_matter;}
SimTK::SimbodyMatterSubsystem& updMatterSubsystem() {return m_matter;}
const SimTK::GeneralForceSubsystem& getForceSubsystem() const {return m_forces;}
SimTK::GeneralForceSubsystem& updForceSubsystem() {return m_forces;}
const SimTK::Force::Gravity& getGravity() const {return m_gravity;}
/// Realizes the topology and model, and uses the resulting initial state
/// to perform further internal initialization.
void initialize(SimTK::State& state) {
state = realizeTopology();
realizeModel(state);
}
const SimTK::MobilizedBody& getBody(Link linkno) const {
return m_bodies[linkno];
}
private:
SimTK::SimbodyMatterSubsystem m_matter;
SimTK::GeneralForceSubsystem m_forces;
SimTK::Force::Gravity m_gravity;
SimTK::MobilizedBody m_bodies[NumLinks];
SimTK::Measure_<SimTK::Vector>::Variable m_sampledAngles;
SimTK::Measure_<SimTK::Vector>::Variable m_sampledRates;
SimTK::Measure_<SimTK::Vec3>::Variable m_sampledEndEffectorPos;
SimTK::Measure_<SimTK::Real>::Variable m_qNoise;
SimTK::Measure_<SimTK::Real>::Variable m_uNoise;
};
#endif // SimTK_SIMBODY_EXAMPLE_UR10_H_
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