Public Member Functions | |
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 | |
name | |
est_theta_closed | |
desired_torque | |
dt | |
torque_controller | |
omega2theta | |
sim_contact_condition | |
phi -> torque More... | |
phi2torque | |
The torque controller is then use to maintain a desired force. It outputs a velocity command to be sent to entity Device.
def agimus_sot.control.gripper.AdmittanceControl.__init__ | ( | self, | |
name, | |||
estimated_theta_closed, | |||
desired_torque, | |||
period, | |||
nums, | |||
denoms | |||
) |
- 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. - nums, denoms: coefficient of the controller: \sum_i denoms[i] * d^i theta / dt^i = \sum_j nums[j] d^j torque / dt^j
def agimus_sot.control.gripper.AdmittanceControl.addOutputTo | ( | self, | |
robot, | |||
jointNames, | |||
mix_of_vector, | |||
sot = None |
|||
) |
def agimus_sot.control.gripper.AdmittanceControl.addTracerRealTime | ( | self, | |
robot | |||
) |
References agimus_sot.control.gripper.AdmittanceControl._current_selec, agimus_sot.control.gripper.AdmittanceControl._tracer, agimus_sot.tools.filename_escape(), agimus_sot.control.controllers.Controller.name, agimus_sot.control.gripper.AdmittanceControl.name, agimus_sot.control.gripper.AdmittanceControl.omega2theta, and agimus_sot.control.gripper.AdmittanceControl.torque_controller.
def agimus_sot.control.gripper.AdmittanceControl.currentTorqueIn | ( | self | ) |
def agimus_sot.control.gripper.AdmittanceControl.outputPosition | ( | self | ) |
def agimus_sot.control.gripper.AdmittanceControl.readCurrentsFromRobot | ( | self, | |
robot, | |||
jointNames, | |||
torque_constants, | |||
first_order_filter = False |
|||
) |
References agimus_sot.control.gripper.AdmittanceControl._current_selec, agimus_sot.control.gripper.AdmittanceControl._first_order_current_filter, agimus_sot.control.gripper.AdmittanceControl._multiply_by_torque_constants, agimus_sot.control.gripper.AdmittanceControl.currentTorqueIn(), agimus_sot.control.gripper.AdmittanceControl.desired_torque, agimus_sot.control.gripper.AdmittanceControl.dt, agimus_sot.control.controllers.Controller.name, and agimus_sot.control.gripper.AdmittanceControl.name.
def agimus_sot.control.gripper.AdmittanceControl.readPositionsFromRobot | ( | self, | |
robot, | |||
jointNames | |||
) |
def agimus_sot.control.gripper.AdmittanceControl.readTorquesFromRobot | ( | self, | |
robot, | |||
jointNames | |||
) |
References agimus_sot.control.gripper.AdmittanceControl._torque_selec, agimus_sot.control.gripper.AdmittanceControl.currentTorqueIn(), agimus_sot.control.controllers.Controller.name, and agimus_sot.control.gripper.AdmittanceControl.name.
def agimus_sot.control.gripper.AdmittanceControl.referenceTorqueIn | ( | self | ) |
def agimus_sot.control.gripper.AdmittanceControl.setCurrentPositionIn | ( | self, | |
sig | |||
) |
References agimus_sot.control.gripper.AdmittanceControl._sim_theta2phi, and agimus_sot.control.gripper.AdmittanceControl.omega2theta.
Referenced by agimus_sot.control.gripper.AdmittanceControl.readPositionsFromRobot().
def agimus_sot.control.gripper.AdmittanceControl.setupFeedbackSimulation | ( | self, | |
mass, | |||
damping, | |||
spring, | |||
theta0 | |||
) |
Setup event to tell when object is grasped and simulate torque feedback.
References agimus_sot.control.gripper.AdmittanceControl._sim_theta2phi, agimus_sot.control.gripper.AdmittanceControl.desired_torque, agimus_sot.control.controllers.Controller.name, and agimus_sot.control.gripper.AdmittanceControl.name.
def agimus_sot.control.gripper.AdmittanceControl.torqueConstants | ( | self | ) |
References agimus_sot.control.gripper.AdmittanceControl._multiply_by_torque_constants.
agimus_sot.control.gripper.AdmittanceControl.desired_torque |
agimus_sot.control.gripper.AdmittanceControl.dt |
agimus_sot.control.gripper.AdmittanceControl.est_theta_closed |
agimus_sot.control.gripper.AdmittanceControl.name |
Referenced by agimus_sot.control.gripper.AdmittanceControl.addTracerRealTime(), agimus_sot.task.op_frame.OpFrame.fullName(), agimus_sot.events.Events.idSignal(), agimus_sot.task.end_effector.EndEffector.makePositionControl(), agimus_sot.control.gripper.AdmittanceControl.readCurrentsFromRobot(), agimus_sot.control.gripper.AdmittanceControl.readPositionsFromRobot(), agimus_sot.control.gripper.AdmittanceControl.readTorquesFromRobot(), and agimus_sot.control.gripper.AdmittanceControl.setupFeedbackSimulation().
agimus_sot.control.gripper.AdmittanceControl.omega2theta |
agimus_sot.control.gripper.AdmittanceControl.phi2torque |
agimus_sot.control.gripper.AdmittanceControl.sim_contact_condition |
phi -> torque
agimus_sot.control.gripper.AdmittanceControl.torque_controller |