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116 lines
3.8 KiB
116 lines
3.8 KiB
%SerialLink.IKUNC Numerical inverse manipulator without joint limits
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%
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% Q = R.ikunc(T) are the joint coordinates (1xN) corresponding to the robot
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% end-effector pose T (4x4) which is a homogenenous transform, and N is the
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% number of robot joints.
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%
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% [Q,ERR] = robot.ikunc(T) as above but also returns ERR which is the
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% scalar final value of the objective function.
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%
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% [Q,ERR,EXITFLAG] = robot.ikunc(T) as above but also returns the
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% status EXITFLAG from fminunc.
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%
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% [Q,ERR,EXITFLAG] = robot.ikunc(T, Q0) as above but specify the
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% initial joint coordinates Q0 used for the minimisation.
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%
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% [Q,ERR,EXITFLAG] = robot.ikunc(T, Q0, options) as above but specify the
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% options for fminunc to use.
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%
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% Trajectory operation::
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%
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% In all cases if T is 4x4xM it is taken as a homogeneous transform
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% sequence and R.ikunc() returns the joint coordinates corresponding to
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% each of the transforms in the sequence. Q is MxN where N is the number
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% of robot joints. The initial estimate of Q for each time step is taken as
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% the solution from the previous time step.
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%
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% ERR and EXITFLAG are also Mx1 and indicate the results of optimisation
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% for the corresponding trajectory step.
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%
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% Notes::
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% - Requires fminunc from the Optimization Toolbox.
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% - Joint limits are not considered in this solution.
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% - Can be used for robots with arbitrary degrees of freedom.
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% - In the case of multiple feasible solutions, the solution returned
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% depends on the initial choice of Q0
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% - Works by minimizing the error between the forward kinematics of the
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% joint angle solution and the end-effector frame as an optimisation.
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% The objective function (error) is described as:
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% sumsqr( (inv(T)*robot.fkine(q) - eye(4)) * omega )
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% Where omega is some gain matrix, currently not modifiable.
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%
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% Author::
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% Bryan Moutrie
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%
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% See also SerialLink.ikcon, fmincon, SerialLink.ikine, SerialLink.fkine.
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% Copyright (C) Bryan Moutrie, 2013-2015
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% Licensed under the GNU Lesser General Public License
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% see full file for full statement
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%
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% LICENSE STATEMENT:
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%
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% This file is part of pHRIWARE.
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%
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% pHRIWARE is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as
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% published by the Free Software Foundation, either version 3 of
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% the License, or (at your option) any later version.
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%
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% pHRIWARE is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU General Public License for more details.
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%
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% You should have received a copy of the GNU Lesser General Public
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% License along with pHRIWARE. If not, see <http://www.gnu.org/licenses/>.
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function [qstar, error, exitflag] = ikunc(robot, T, q0, options)
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% check if Optimization Toolbox exists, we need it
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if ~exist('fminunc')
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error('rtb:ikunc:nosupport', 'Optimization Toolbox required');
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end
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% create output variables
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T_sz = size(T,3);
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qstar = zeros(T_sz,robot.n);
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error = zeros(T_sz,1);
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exitflag = zeros(T_sz,1);
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problem.solver = 'fminunc';
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problem.x0 = zeros(1, robot.n);
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problem.options = optimoptions('fminunc', ...
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'Algorithm', 'quasi-newton', ...
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'Display', 'off'); % default options for ikunc
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if nargin > 2
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problem.x0 = q0;
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end
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if nargin > 3
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problem.options = optimset(problem.options, options);
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end
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reach = sum(abs([robot.a, robot.d]));
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omega = diag([1 1 1 3/reach]);
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for t = 1:T_sz
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problem.objective = ...
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@(x) sumsqr(((T(:,:,t) \ robot.fkine(x)) - eye(4)) * omega);
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[q_t, err_t, ef_t] = fminunc(problem);
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qstar(t,:) = q_t;
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error(t) = err_t;
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exitflag(t) = ef_t;
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problem.x0 = q_t;
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end
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end
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function s = sumsqr(A)
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s = sum(A(:).^2);
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end
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