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Department: FTI-FHO-FPT
Presenter: Pham Van Trung
OUTLINE
1 Introduction
4 Position Control
5 Locomotion Control
4. Locomotion control
Stiffness Control
What is stiffness?
Basically, stiffness is a torque that a motor of joint can generate
Stiffness value relatively defined 0.0 to 1.0
Functions
Animation methods (time fixed, blocking function
o RobotMotionCartesianController. positionInterpolation (Robot robot, String name,
int space, RobotPosition6D[] positionList, int axisMask, float[] durationList,
boolean isAbsolute)
o RobotMotionCartesianController. positionInterpolations (Robot robot, String[]
names, int spaceForAll, RobotPosition6D[] positionList, int[] axisMaskList, float[]
durationList, boolean isAbsolute)
Reactive methods (could be changed every ALMotion cycle, non
blocking function)
o RobotMotionCartesianController. setPosition (Robot robot, String name, int space,
RobotPosition6D position, int axisMask, float fractionMaxSpeed)
o RobotMotionCartesianController. changePosition (Robot robot, String name, int
space, RobotPosition6D positionChange, int axisMask, float fractionMaxSpeed)
Cartesian Control
Example Using positionInterpolation ()
Name – Name of the chain. Could be: “Head”,
“LArm”, “RArm”, “LLeg”, “RLeg”.
space – Task space {FRAME_TORSO = 0,
FRAME_WORLD = 1, FRAME_ROBOT = 2}.
positionList – Vector of 6D position arrays
(x,y,z,wx,wy,wz) in meters and radians.
axisMask – Axis mask. True for axes that you wish
to control. e.g. 7 for position only, 56 for rotation
only and 63 for both.
durationList – Vector of times in seconds
corresponding to the path points.
isAbsolute – If true, the movement is absolute else
relative.
Robot – is a connected robot. This variable is
retrieved by calling the function Robot. getRobot().
Locomotion Control
What is Locomotion control?
Move a robot in local place
MoveTo()
x – Distance along the X axis in meters.
y – Distance along the Y axis in meters.
theta – Rotation around the Z axis in
radians [-3.1415 to 3.1415].
Questions and Comments