Admittance controller for an operational point wrt to a force sensor. It can be a point of the model (hand) or not (created operational point: an object in the hand of the robot) Which is closed to a force sensor (for instance the right or left wrist ft)
More...
#include <sot/core/admittance-control-op-point.hh>
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW | AdmittanceControlOpPoint (const std::string &name) |
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void | init (const double &dt) |
| Initialize the entity. More...
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| DECLARE_SIGNAL_IN (Kp, dynamicgraph::Vector) |
| Gain (6d) for the integration of the error on the force. More...
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| DECLARE_SIGNAL_IN (Kd, dynamicgraph::Vector) |
| Derivative gain (6d) for the error on the force. More...
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| DECLARE_SIGNAL_IN (dqSaturation, dynamicgraph::Vector) |
| Value of the saturation to apply on the velocity output. More...
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| DECLARE_SIGNAL_IN (force, dynamicgraph::Vector) |
| 6d force given by the sensor in its local frame More...
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| DECLARE_SIGNAL_IN (w_forceDes, dynamicgraph::Vector) |
| 6d desired force of the end-effector in the world frame More...
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| DECLARE_SIGNAL_IN (opPose, dynamicgraph::sot::MatrixHomogeneous) |
| Current position (matrixHomogeneous) of the given operational point. More...
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| DECLARE_SIGNAL_IN (sensorPose, dynamicgraph::sot::MatrixHomogeneous) |
| Current position (matrixHomogeneous) of the given force sensor. More...
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| DECLARE_SIGNAL_INNER (w_force, dynamicgraph::Vector) |
| 6d force given by the sensor in the world frame More...
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| DECLARE_SIGNAL_INNER (w_dq, dynamicgraph::Vector) |
| Internal intergration computed in the world frame. More...
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| DECLARE_SIGNAL_OUT (dq, dynamicgraph::Vector) |
| Velocity reference for the end-effector in the local frame. More...
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void | resetDq () |
| Reset the velocity. More...
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virtual void | display (std::ostream &os) const |
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Admittance controller for an operational point wrt to a force sensor. It can be a point of the model (hand) or not (created operational point: an object in the hand of the robot) Which is closed to a force sensor (for instance the right or left wrist ft)
This entity computes a velocity reference for an operational point based on the force error in the world frame : w_dq = integral(Kp(w_forceDes-w_force)) + Kd (w_dq)
◆ AdmittanceControlOpPoint()
EIGEN_MAKE_ALIGNED_OPERATOR_NEW dynamicgraph::sot::core::AdmittanceControlOpPoint::AdmittanceControlOpPoint |
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const std::string & |
name | ) |
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◆ DECLARE_SIGNAL_IN() [1/7]
dynamicgraph::sot::core::AdmittanceControlOpPoint::DECLARE_SIGNAL_IN |
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Kp |
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dynamicgraph::Vector |
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Gain (6d) for the integration of the error on the force.
◆ DECLARE_SIGNAL_IN() [2/7]
dynamicgraph::sot::core::AdmittanceControlOpPoint::DECLARE_SIGNAL_IN |
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Kd |
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dynamicgraph::Vector |
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Derivative gain (6d) for the error on the force.
◆ DECLARE_SIGNAL_IN() [3/7]
dynamicgraph::sot::core::AdmittanceControlOpPoint::DECLARE_SIGNAL_IN |
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dqSaturation |
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dynamicgraph::Vector |
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Value of the saturation to apply on the velocity output.
◆ DECLARE_SIGNAL_IN() [4/7]
dynamicgraph::sot::core::AdmittanceControlOpPoint::DECLARE_SIGNAL_IN |
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force |
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dynamicgraph::Vector |
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6d force given by the sensor in its local frame
◆ DECLARE_SIGNAL_IN() [5/7]
dynamicgraph::sot::core::AdmittanceControlOpPoint::DECLARE_SIGNAL_IN |
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w_forceDes |
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dynamicgraph::Vector |
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6d desired force of the end-effector in the world frame
◆ DECLARE_SIGNAL_IN() [6/7]
Current position (matrixHomogeneous) of the given operational point.
◆ DECLARE_SIGNAL_IN() [7/7]
Current position (matrixHomogeneous) of the given force sensor.
◆ DECLARE_SIGNAL_INNER() [1/2]
dynamicgraph::sot::core::AdmittanceControlOpPoint::DECLARE_SIGNAL_INNER |
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w_force |
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dynamicgraph::Vector |
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6d force given by the sensor in the world frame
◆ DECLARE_SIGNAL_INNER() [2/2]
dynamicgraph::sot::core::AdmittanceControlOpPoint::DECLARE_SIGNAL_INNER |
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w_dq |
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dynamicgraph::Vector |
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Internal intergration computed in the world frame.
◆ DECLARE_SIGNAL_OUT()
dynamicgraph::sot::core::AdmittanceControlOpPoint::DECLARE_SIGNAL_OUT |
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dq |
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dynamicgraph::Vector |
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Velocity reference for the end-effector in the local frame.
◆ display()
virtual void dynamicgraph::sot::core::AdmittanceControlOpPoint::display |
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std::ostream & |
os | ) |
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◆ init()
void dynamicgraph::sot::core::AdmittanceControlOpPoint::init |
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const double & |
dt | ) |
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Initialize the entity.
- Parameters
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[in] | dt | Time step of the control |
◆ resetDq()
void dynamicgraph::sot::core::AdmittanceControlOpPoint::resetDq |
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◆ m_dt
double dynamicgraph::sot::core::AdmittanceControlOpPoint::m_dt |
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Time step of the control.
◆ m_initSucceeded
bool dynamicgraph::sot::core::AdmittanceControlOpPoint::m_initSucceeded |
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True if the entity has been successfully initialized.
◆ m_mass
double dynamicgraph::sot::core::AdmittanceControlOpPoint::m_mass |
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◆ m_n
int dynamicgraph::sot::core::AdmittanceControlOpPoint::m_n |
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Dimension of the force signals and of the output.
◆ m_w_dq
dynamicgraph::Vector dynamicgraph::sot::core::AdmittanceControlOpPoint::m_w_dq |
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protected |
The documentation for this class was generated from the following file: