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fix lspb trajectory

master
philipp schoenberger 10 years ago
parent
2880d130e8
commit
6fb7300a9f
8 changed files with 79 additions and 55 deletions
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  1. 9
      lwrserv/include/BangBangTrajectory.h
  2. 82
      lwrserv/include/LSPBTrajectory.h
  3. 21
      lwrserv/include/Trajectroy.h
  4. 2
      lwrserv/include/mat.h
  5. 1
      lwrserv/include/robot.h
  6. 2
      lwrserv/program.cpp
  7. 5
      one_10_degree
  8. 4
      one_10_degree_lspb

9
lwrserv/include/BangBangTrajectory.h
View File

@ -21,7 +21,6 @@ class BangBangJointTrajectory : public Trajectory<SIZE>
// calculate maximum velocity and acceleration
Vec<float, SIZE> maxJointLocalVelocity = maxJointVelocity * sampleTime;
Vec<float, SIZE> maxJointLocalAcceleration = maxJointAcceleration * sampleTime;
std::cout << maxJointLocalVelocity << ", " << maxJointLocalAcceleration << "\n";
// calculate delta movement
Vec<float,SIZE> jointMovement = jointEnd - jointStart;
@ -36,13 +35,12 @@ class BangBangJointTrajectory : public Trajectory<SIZE>
// s = a * t^2 / 2
Vec<float,SIZE> minBangBangTime = maxJointLocalVelocity.celldivide(maxJointLocalAcceleration) / sampleTime;
//TODO check if mintime is neceesary
Vec<float,SIZE> time = ((jointMovementAbs/2.0f).celldivide(maxJointAcceleration) * 2.0f).sqrt() * 2.0f / sampleTime;
std::cout << time << "time \n ";
std::cout << minBangBangTime << "minBangBangTime \n ";
Vec<float,SIZE> timeMaxAcceleration = ((jointMovementAbs/2.0f).celldivide(maxJointAcceleration) * 2.0f).sqrt() * 2.0f / sampleTime;
Vec<float,SIZE> timeMaxVelocity = ((jointMovementAbs/2.0f).celldivide(maxJointVelocity) * 2.0f)*2.0f / sampleTime;
Vec<float,SIZE> time = timeMaxAcceleration.cellmax(timeMaxVelocity);
Vec<float,SIZE> minStepsPerJoint = time;//jointMovementAbs.celldivide(maxJointLocalVelocity)*2.0f;
minStepsPerJoint = minStepsPerJoint.ceil();
std::cout << minStepsPerJoint << "minStepsPerJoint \n";
this->steps = minStepsPerJoint.max();
if (this->steps == 0)
@ -78,7 +76,6 @@ class BangBangJointTrajectory : public Trajectory<SIZE>
this->nodes[i].jointPos = jointLast + this->nodes[i].velocity;
std::cout << count << this->nodes[i].velocity << this->nodes[i].jointPos <<"\n";
jointLast = this->nodes[i].jointPos;
velocityLast = this->nodes[i].velocity;
}

82
lwrserv/include/LSPBTrajectory.h
View File

@ -16,7 +16,6 @@ public:
Vec<float,SIZE> jointEnd
)
{
std::cout << "bang bang \n " ;
float MStoSec = 1000.0f;
float sampleTime = sampleTimeMs / MStoSec;
// calculate maximum velocity and acceleration
@ -35,19 +34,57 @@ public:
// one joint has to reach maxvelocity the others are stepped down to
// calculate time if acceleration is enouth to reach max speed
Vec<float,SIZE> maxVeloReachable = (jointMovementAbs.celldivide(maxJointAcceleration)*2.0f).sqrt().cellmultiply(maxJointVelocity);
maxJointLocalVelocity = (maxVeloReachable/sampleTime).cellmax(maxJointLocalVelocity);
// v ^
// |
// v_bang| /\ <- bang bang trajectory
// | / \
// v_lspb| _____\___ <- lspb trajectory
// | / . .
// | / . . \
// | / . . \
// |/________.__.___\____> t
// | t1| t2 | t3|
// |tx|
//
// t1/t3 = acceleration phase
// t2 = constant speed phase
//
// t = t1 + t2 +t3
//
// v_lspb = percent * v_bang
//
// t = t_bang + t_x
// t = t_bang + (v_bang - v_lspb)/a * 2
//
// t = t_bang + (t_bang/2 * a - percent *t_bang/2*a) / a *2
// t = t_bang + (1- percent) * (t_bang/2 * a) / a *2
// t = t_bang + (1- percent) * t_bang
// t = (2-percent) * t_bang
// calculate time for bang bang
Vec<float,SIZE> accelerationPhaseTime = maxJointVelocity.celldivide(maxJointAcceleration)/sampleTime;
Vec<float,SIZE> jointMovementRemaining = jointMovementAbs - maxJointVelocity.cellmultiply(maxJointVelocity).celldivide(maxJointAcceleration);
Vec<float,SIZE> maxVelocityPhaseThime = jointMovementRemaining.celldivide(maxJointLocalVelocity);
Vec<float,SIZE> timeMaxAcceleration = ((jointMovementAbs/2.0f).celldivide(maxJointAcceleration) * 2.0f).sqrt() * 2.0f / sampleTime;
Vec<float,SIZE> timeMaxVelocity = ((jointMovementAbs/2.0f).celldivide(maxJointVelocity) * 2.0f)*2.0f / sampleTime;
Vec<float,SIZE> timeBangBang = timeMaxAcceleration.cellmax(timeMaxVelocity);
std::cout << timeBangBang << "timeBangBang\n";
float steps_bangbang = timeBangBang.ceil().max();
Vec<float,SIZE> minStepsPerJoint = accelerationPhaseTime * 2.0f + maxVelocityPhaseThime;
std::cout << minStepsPerJoint << "minStepsPerJoint \n";
std::cout << accelerationPhaseTime << "a time \n";
std::cout << jointMovementRemaining << "reimain movement\n";
std::cout << maxVelocityPhaseThime << "max time \n";
minStepsPerJoint = minStepsPerJoint.ceil();
// calculate maxAcceleration for bangbang
Vec<float,SIZE> currMaxAcceleration = (jointMovementAbs * 2.0f ).celldivide(steps_bangbang).celldivide(steps_bangbang)*2.0f;
std::cout << "currMaxAcceleration : " << currMaxAcceleration << "\n";
float percentLSPB = 0.7f;
Vec<float,SIZE> timeLSPB = timeBangBang * (1 + 0.25f * (1.0f - percentLSPB));
float timeBlend = ((timeBangBang /2.0f) * percentLSPB).ceil().max();
std::cout << timeBlend << "timeBlend \n";
std::cout << timeLSPB << "max time \n";
Vec<float,SIZE> minStepsPerJoint = timeLSPB.ceil();
this->steps = minStepsPerJoint.max();
if (this->steps == 0)
@ -58,32 +95,25 @@ public:
Vec<float,SIZE> jointLast = jointStart;
Vec<float,SIZE> velocityLast(0.0f);
// percentage of max velocity
//Vec<float,SIZE> currJointMovementOfMax = minStepsPerJoint / minStepsPerJoint.max() ;
// s = a* t^2 / 2 => a = s* 2 / t^2
Vec<float,SIZE> currMaxAcceleration = (maxJointLocalAcceleration).cellmultiply(minStepsPerJoint) / minStepsPerJoint.max();
Vec<float,SIZE> currMaxVelocity = (maxJointLocalVelocity ).cellmultiply(minStepsPerJoint) / minStepsPerJoint.max();
std::cout << "max velo curr : " << currMaxVelocity << "\n";
int count = 0;
for( int i = 0 ; i < this->steps; ++i)
{
for (int joint = 0 ; joint < SIZE; ++joint)
if (i < timeBlend)
{
if (i < accelerationPhaseTime(i))
count += 1;
this->nodes[i].acceleration = currMaxAcceleration;
}else if (i < this->steps - timeBlend )
{
this->nodes[i].acceleration(i) = currMaxAcceleration(i);
}else if (i < accelerationPhaseTime(i) + jointMovementRemaining(i))
{
this->nodes[i].acceleration(i) = 0.0f;
this->nodes[i].acceleration = Vec<float,SIZE>(0.0f);
}else
{
this->nodes[i].acceleration(i) = currMaxAcceleration(i)* -1.0f;
}
this->nodes[i].velocity(i) = velocityLast(i) + jointMovementSgn(i) * currMaxAcceleration(i);
count -= 1;
this->nodes[i].acceleration = currMaxAcceleration* -1.0f;
}
this->nodes[i].velocity = jointMovementSgn.cellmultiply(currMaxAcceleration) * count;
this->nodes[i].jointPos = jointLast + this->nodes[i].velocity;
//std::cout << i << this->nodes[i].velocity << this->nodes[i].jointPos <<"\n";
jointLast = this->nodes[i].jointPos;
velocityLast = this->nodes[i].velocity;
}

21
lwrserv/include/Trajectroy.h
View File

@ -1,6 +1,7 @@
#ifndef _TRAJECTORY_H_
#define _TRAJECTORY_H_
#include "vec.h"
#include "mat.h"
#include <stdlib.h>
#include <iostream>
#include <fstream>
@ -48,8 +49,6 @@ static struct {
};
/// END OF TRAJECTORY LIST
static std::string toString(enum TrajectoryType type)
{
int items = sizeof(TrajectoryTypeStr) / sizeof(TrajectoryTypeStr[0]);
@ -201,9 +200,9 @@ class Trajectory
return retval;
}
Mat<float,4> getNextCartPos ()
MatCarthesian getNextCartPos ()
{
Mat<float,4> retval(0.0f,1.0f);
MatCarthesian retval(0.0f,1.0f);
unsigned int pos = currentStep;
if (steps == 0)
return retval;
@ -233,7 +232,7 @@ class Trajectory
return retval;
}
if (nodes != NULL && movementType == MovementJointBased)
if (nodes != NULL)
{
retval = nodes[step].jointPos;
}
@ -241,9 +240,9 @@ class Trajectory
return retval;
}
Mat<float,4> getCartPos (unsigned int step)
MatCarthesian getCartPos (unsigned int step)
{
Vec<float,SIZE> retval(0.0f);
MatCarthesian retval(0.0f, 1.0f);
if (steps == 0)
return retval;
if (step >= steps)
@ -251,7 +250,7 @@ class Trajectory
return retval;
}
if (nodes != NULL && movementType == MovementJointBased)
if (nodes != NULL)
{
retval = nodes[step].cartPos;
}
@ -268,7 +267,7 @@ class Trajectory
return retval;
}
if (nodes != NULL && movementType == MovementCartBased)
if (nodes != NULL)
{
retval = nodes[step].velocity;
}
@ -285,7 +284,7 @@ class Trajectory
return retval;
}
if (nodes != NULL && movementType == MovementCartBased)
if (nodes != NULL)
{
retval = nodes[step].acceleration;
}
@ -296,7 +295,7 @@ class Trajectory
struct trajectoryNode
{
Vec<float,SIZE> jointPos;
Mat<float,4> cartPos;
MatCarthesian cartPos;
Vec<float,SIZE> velocity;
Vec<float,SIZE> acceleration;
};

2
lwrserv/include/mat.h
View File

@ -16,6 +16,8 @@ typedef Mat<double, 2> Mat2d;
typedef Mat<double, 3> Mat3d;
typedef Mat<double, 4> Mat4d;
typedef Mat<float, 4> MatCarthesian;
// template square matrix class for SIMPLE data types
template <class T, unsigned SIZE> class Mat

1
lwrserv/include/robot.h
View File

@ -5,7 +5,6 @@
#include "mat.h"
#include "friComm.h"
typedef Mat<float, 4> MatCarthesian;
typedef Vec<float, FRI_CART_VEC> VecTorque;
class Robot

2
lwrserv/program.cpp
View File

@ -206,7 +206,6 @@ void *threadRobotMovement(void *arg)
}
std::cout << "init position is " << currentJointPos << "\n";
while(true)
{
if (REAL_ROBOT)
@ -313,7 +312,6 @@ end:
static int trajcetorycount = 0;
trajcetorycount +=1;
currentTrajectory->saveToFile(std::string("trajectory/a.csv"));
// invalid trajectory skip it
delete currentTrajectory;

5
one_10_degree
View File

@ -3,12 +3,11 @@
set timeout 1
spawn telnet localhost 8000
expect
set timeout 0.5
send "Hello Robot\n"
expect
send "SS 10\n"
send "SS 0.0110\n"
expect
send "ST JointBangBang\n"
expect
send "MPTPJ 0 0 0 0 0 0 100\n"
send "MPTPJ 0 0 0 0 0 0 10\n"
expect

4
one_10_degree_lspb
View File

@ -3,12 +3,12 @@
set timeout 1
spawn telnet localhost 8000
expect
set timeout 0.5
set timeout 1
send "Hello Robot\n"
expect
send "SS 10\n"
expect
send "ST JointLSPB\n"
expect
send "MPTPJ 0 0 0 0 0 0 100\n"
send "MPTPJ 0 0 0 0 0 0 10\n"
expect
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