Public Member Functions | |
def | __init__ (self, name, theta_open, estimated_theta_closed, desired_torque, period, threshold_up, threshold_down, wn, z, nums_tor, denoms_tor) |
def | resetToPositionControl (self) |
def | setupFeedbackSimulation (self, mass, damping, spring, theta0) |
Setup event to tell when object is grasped. More... | |
def | readCurrentsFromRobot (self, robot, jointNames, torque_constants, first_order_filter=False) |
def | readTorquesFromRobot (self, robot, jointNames) |
def | addTracerRealTime (self, robot) |
def | outputPosition (self) |
def | referencePositionIn (self) |
def | setCurrentPositionIn (self, sig) |
def | setCurrentConditionIn (self, sig) |
def | switchEventToTorqueCheck (self) |
def | switchEventToPositionCheck (self) |
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def | __init__ (self, name, estimated_theta_closed, desired_torque, period, nums, denoms) |
def | setupFeedbackSimulation (self, mass, damping, spring, theta0) |
Setup event to tell when object is grasped and simulate torque feedback. More... | |
def | readPositionsFromRobot (self, robot, jointNames) |
def | readCurrentsFromRobot (self, robot, jointNames, torque_constants, first_order_filter=False) |
def | readTorquesFromRobot (self, robot, jointNames) |
def | addOutputTo (self, robot, jointNames, mix_of_vector, sot=None) |
def | addTracerRealTime (self, robot) |
def | outputPosition (self) |
def | referenceTorqueIn (self) |
def | setCurrentPositionIn (self, sig) |
def | currentTorqueIn (self) |
def | torqueConstants (self) |
Public Attributes | |
theta_open | |
threshold_up | |
threshold_down | |
position_controller | |
switch | |
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name | |
est_theta_closed | |
desired_torque | |
dt | |
torque_controller | |
omega2theta | |
sim_contact_condition | |
phi -> torque More... | |
phi2torque | |
Encapsulate two controllers: a position controller and a torque controller. The position controller is used to create a contact. The torque controller is then use to maintain a desired force. Both controller outputs a velocity command to be sent to entity Device.
def agimus_sot.control.gripper.PositionAndAdmittanceControl.__init__ | ( | self, | |
name, | |||
theta_open, | |||
estimated_theta_closed, | |||
desired_torque, | |||
period, | |||
threshold_up, | |||
threshold_down, | |||
wn, | |||
z, | |||
nums_tor, | |||
denoms_tor | |||
) |
- theta_open: Angle for the opened gripper. - estimated_theta_closed: Use for the initial position control. It should correspond to a configuration in collision. The closer to contact configuration, the least the overshoot. - desired_torque: The torque to be applied on the object. - period: The SoT integration time. - threshold_up : When one component of the torque becomes greater than threshold, switch to torque control - threshold_down: When all components of the torque become less than threshold, switch to position control - wn, z: corner frequency and damping of the second order position control. - nums_tor, denoms_tor: coefficient of the admittance controller: \sum_i denoms[i] * d^i theta / dt^i = \sum_j nums[j] d^j torque / dt^j
def agimus_sot.control.gripper.PositionAndAdmittanceControl.addTracerRealTime | ( | self, | |
robot | |||
) |
def agimus_sot.control.gripper.PositionAndAdmittanceControl.outputPosition | ( | self | ) |
def agimus_sot.control.gripper.PositionAndAdmittanceControl.readCurrentsFromRobot | ( | self, | |
robot, | |||
jointNames, | |||
torque_constants, | |||
first_order_filter = False |
|||
) |
References agimus_sot.control.gripper.AdmittanceControl._multiply_by_torque_constants, and agimus_sot.control.gripper.PositionAndAdmittanceControl.setCurrentConditionIn().
def agimus_sot.control.gripper.PositionAndAdmittanceControl.readTorquesFromRobot | ( | self, | |
robot, | |||
jointNames | |||
) |
References agimus_sot.control.gripper.AdmittanceControl._torque_selec, and agimus_sot.control.gripper.PositionAndAdmittanceControl.setCurrentConditionIn().
def agimus_sot.control.gripper.PositionAndAdmittanceControl.referencePositionIn | ( | self | ) |
def agimus_sot.control.gripper.PositionAndAdmittanceControl.resetToPositionControl | ( | self | ) |
def agimus_sot.control.gripper.PositionAndAdmittanceControl.setCurrentConditionIn | ( | self, | |
sig | |||
) |
References agimus_sot.control.gripper.PositionAndAdmittanceControl.switch.
Referenced by agimus_sot.control.gripper.PositionAndAdmittanceControl.readCurrentsFromRobot(), agimus_sot.control.gripper.PositionAndAdmittanceControl.readTorquesFromRobot(), and agimus_sot.control.gripper.PositionAndAdmittanceControl.setupFeedbackSimulation().
def agimus_sot.control.gripper.PositionAndAdmittanceControl.setCurrentPositionIn | ( | self, | |
sig | |||
) |
def agimus_sot.control.gripper.PositionAndAdmittanceControl.setupFeedbackSimulation | ( | self, | |
mass, | |||
damping, | |||
spring, | |||
theta0 | |||
) |
Setup event to tell when object is grasped.
References agimus_sot.control.gripper.AdmittanceControl._sim_torque, and agimus_sot.control.gripper.PositionAndAdmittanceControl.setCurrentConditionIn().
def agimus_sot.control.gripper.PositionAndAdmittanceControl.switchEventToPositionCheck | ( | self | ) |
def agimus_sot.control.gripper.PositionAndAdmittanceControl.switchEventToTorqueCheck | ( | self | ) |
agimus_sot.control.gripper.PositionAndAdmittanceControl.position_controller |
agimus_sot.control.gripper.PositionAndAdmittanceControl.switch |
Referenced by agimus_sot.events.Events.conditionSignal(), agimus_sot.events.Events.getSignalNumber(), agimus_sot.control.gripper.PositionAndAdmittanceControl.outputPosition(), agimus_sot.control.gripper.PositionAndAdmittanceControl.resetToPositionControl(), agimus_sot.control.gripper.PositionAndAdmittanceControl.setCurrentConditionIn(), agimus_sot.events.Events.setSelectedSignal(), agimus_sot.events.Events.setSignalNumber(), agimus_sot.control.gripper.PositionAndAdmittanceControl.switchEventToPositionCheck(), and agimus_sot.control.gripper.PositionAndAdmittanceControl.switchEventToTorqueCheck().
agimus_sot.control.gripper.PositionAndAdmittanceControl.theta_open |
agimus_sot.control.gripper.PositionAndAdmittanceControl.threshold_down |
agimus_sot.control.gripper.PositionAndAdmittanceControl.threshold_up |