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528 lines
16 KiB
528 lines
16 KiB
#include "header.h"
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#include "global.h"
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#include "sgn.h"
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#include <error.h>
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#include <errno.h>
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#include <math.h>
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#include "SvrData.h"
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void printMat(Mat4f M)
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{
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cout << M << endl;
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}
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float* abctomat(float a, float b, float c)
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{
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Mat4f rx;
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float ca = cos(c);
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float sa = sin(c);
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rx(0,0) = 1;
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rx(1,1) = ca;
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rx(1,2) = -sa;
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rx(2,1) = sa;
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rx(2,2) = ca;
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rx(3,3) = 1;
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Mat4f ry;
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float cb = cos(b);
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float sb = sin(b);
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ry(0,0) = cb;
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ry(0,2) = sb;
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ry(1,1) = 1;
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ry(2,0) = -sb;
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ry(2,2) = cb;
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ry(3,3) = 1;
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Mat4f rz;
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float cc = cos(a);
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float sc = sin(a);
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rz(0,0) = cc;
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rz(0,1) = -sc;
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rz(1,0) = sc;
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rz(1,1) = cc;
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rz(2,2) = 1;
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rz(3,3) = 1;
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Mat4f result;
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Mat4f temp;
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temp = rz * ry;
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result = temp * rx;
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#ifdef __DEBUG__
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printMat(rx);
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printMat(ry);
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printMat(rz);
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printMat(result);
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#endif
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float *res = new float[12];
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//TODO simple converter for mat
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for (int j=0;j<3;j++)
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{
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for (int k=0;k<4;k++)
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{
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res[j*4+k] = result(j,k);
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}
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}
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return res;
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}
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float* mattoabc(float M[12])
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{
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float norm;
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float sa;
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float ca;
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float *abc = new float[3];
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norm = sqrt((M[0]*M[0])+(M[4]*M[4]));
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if (norm>1e-5)
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{
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sa = M[4]/norm;
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ca = M[0]/norm;
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abc[0] = atan2(sa,ca);
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}
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else
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{
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sa = 0;
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ca = 1;
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abc[0] = 0;
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}
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abc[1] = atan2(-M[8],ca*M[0]+sa*M[4]);
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abc[2] = atan2(sa*M[2]-ca*M[6],-sa*M[1]+ca*M[5]);
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return abc;
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}
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void doRalf()
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{
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// Global definitions
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float lowStiff[6] = { 0.01f, 0.01f, 0.01f, 0.01f, 0.01f, 0.01f};
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float highStiff[6] = {1000.0f, 1000.0f, 1000.0f, 10.0f, 10.0f, 10.0f};
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float slowDamp[6] = { 0.007f, 0.007f, 0.007f, 0.007f, 0.007f, 0.007f};
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float fastDamp[6] = { 0.7f, 0.7f, 0.7f, 0.7f, 0.7f, 0.7f};
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float pos1[12] = {
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1.0f, 0.0f, 0.0f, 500.0f,
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0.0f, 1.0f, 0.0f, 0.0f,
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0.0f, 0.0f, 1.0f, 500.0f
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};
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float pos2[12] = {
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1.0f, 0.0f, 0.0f , 500.0f,
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0.0f, 1.0f, 0.0f , 0.0f,
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0.0f, 0.0f ,1.0f , 500.0f
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};
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friRemote friInst;
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double timeCounter=0;
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friInst.doDataExchange();
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float* cartPos;
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while(true)
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{
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// Time
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timeCounter+=friInst.getSampleTime();
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friInst.doReceiveData();
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// Get all variables from FRI
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float* jntPos = friInst.getMsrMsrJntPosition();
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float* jacobian = friInst.getJacobian();
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float* ftTcp = friInst.getFTTcp();
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if (timeCounter < 20)
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cartPos = friInst.getMsrCartPosition();
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//friInst.doDataExchange();
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//friInst.doCartesianImpedanceControl(cartPos, highStiff, fastDamp, NULL, NULL, true);
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#if 0
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if (timeCounter>10 && timeCounter<10)
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{
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friInst.doCartesianImpedanceControl(cartPos, highStiff, fastDamp, NULL, NULL, false);
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} else
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{
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friInst.doCartesianImpedanceControl(cartPos, highStiff, fastDamp, NULL, NULL, false);
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}
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#endif
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float npos[12];
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memcpy(npos,cartPos,12);
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friInst.doCartesianImpedanceControl(npos, highStiff, fastDamp, NULL, NULL, false);
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#if 0
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if (timeCounter<20)
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{
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friInst.doCartesianImpedanceControl(Test, highStiff, fastDamp, NULL, NULL, true);
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} else if (timeCounter<30)
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{
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friInst.doCartesianImpedanceControl(cartPos, highStiff, fastDamp, NULL, NULL, true);
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} else if (timeCounter<40)
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{
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friInst.doCartesianImpedanceControl(cartPos , highStiff, fastDamp, NULL, NULL, true);
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} else
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{
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friInst.doDataExchange();
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}
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#endif
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friInst.doSendData();
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}
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}
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Mat4f vecToMat2(float vec[12])
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{
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Mat4f result;
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for (int i=0; i<3; i++)
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{
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for (int j=0; j<4; j++)
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{
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result(i,j) = (float)vec[i*4+j];
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}
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}
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result(3,3)=(float)1;
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return result;
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}
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float* matToVec2(Mat4f mat)
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{
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float* vec = new float[12];
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for (int j=0;j<3;j++)
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{
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for (int k=0;k<4;k++)
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{
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vec[j*4+k] = mat(j,k);
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}
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}
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return vec;
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}
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float* vectoquat(float vec[12])
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{
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float *quat = new float[4];
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float diag[3];
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int v; int w; int u;
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diag[0] = vec[0];
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diag[1] = vec[5];
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diag[2] = vec[10];
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float u_ = *std::max_element(diag,diag+2);
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if (u_==diag[0])
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{
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u = 1;
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v = 2;
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w = 3;
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} else if (u_==diag[1])
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{
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u = 2;
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v = 3;
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w = 1;
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} else
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{
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u = 3;
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v = 1;
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w = 2;
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}
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float r = sqrt(1+vec[(u-1)*4+(u-1)] - vec[(v-1)*4+(v-1)] - vec[(w-1)*4+(w-1)]);
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quat[0] = (vec[(w-1)*4+(v-1)] - vec[(v-1)*4+(w-1)]) / (2*r);
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quat[u] = r/2;
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quat[v] = (vec[(u-1)*4+(v-1)] + vec[(v-1)*4+(u-1)]) / (2*r);
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quat[w] = (vec[(w-1)*4+(u-1)] + vec[(u-1)*4+(w-1)]) / (2*r);
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return quat;
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}
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float* quattovec(float quat[4])
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{
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float *vec = new float[12];
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vec[0] = quat[0]*quat[0]+quat[1]*quat[1]-quat[2]*quat[2]-quat[3]*quat[3];
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vec[4] = 2*(quat[1]*quat[2]+quat[0]*quat[3]);
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vec[8] = 2*(quat[1]*quat[3]-quat[0]*quat[2]);
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vec[1] = 2*(quat[1]*quat[2]-quat[0]*quat[3]);
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vec[5] = quat[0]*quat[0]-quat[1]*quat[1]+quat[2]*quat[2]-quat[3]*quat[3];
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vec[9] = 2*(quat[2]*quat[3]+quat[0]*quat[1]);
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vec[2] = 2*(quat[1]*quat[3]+quat[0]*quat[2]);
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vec[6] = 2*(quat[2]*quat[3]-quat[0]*quat[1]);
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vec[10] = quat[0]*quat[0]-quat[1]*quat[1]-quat[2]*quat[2]+quat[3]*quat[3];
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return vec;
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}
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void *threadFriDataExchange(void *arg)
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{
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// unused
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(void) arg;
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//doRalf();
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friRemote friInst;
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while (1)
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{
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//#######################################
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// Communication loop
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// get current joint positions
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for ( int i= 0; i < LBR_MNJ; i++)
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{
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MSRMSRJNTPOS[i] = friInst.getMsrCmdJntPosition()[i] + friInst.getMsrCmdJntPositionOffset()[i];
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//MSRMSRJNTPOS[i] = friInst.getMsrMsrJntPosition()[i];
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}
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// get current jacobian
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float* friJacobian = friInst.getJacobian();
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if ( friJacobian == NULL)
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{
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fprintf(stderr,"Failed: could not get jacobian\n");
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break;
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}
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for (int i = 0; i < FRI_CART_VEC*LBR_MNJ ; i++)
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{
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MSRMSRJACOBIAN[i] = friJacobian[i];
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}
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// get current messured carthesian position
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float* friMsrCartPosition = friInst.getMsrCartPosition();
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if ( friMsrCartPosition == NULL)
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{
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fprintf(stderr,"Failed: could not get Messurement in Carthesian Position\n");
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break;
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}
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for ( int i =0; i < FRI_CART_FRM_DIM; i++)
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{
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MSRMSRCARTPOS[i] = friMsrCartPosition[i];
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}
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// get current force and torque
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float* friFTTcp = friInst.getFTTcp();
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for ( int i = 0; i < FRI_CART_VEC; i++)
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{
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MSRMSRFTTCP[i] = friFTTcp[i];
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}
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//#########################################################
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// PTP Joint Movement
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if (__MSRCMDJNTPOS)
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{
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Vec<float,LBR_MNJ> maxJointLocalVelocity;
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Vec<float,LBR_MNJ> maxJointLocalAcceleration;
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Vec<float,LBR_MNJ> delta;
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Vec<float,LBR_MNJ> deltaAbs;
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Vec<float,LBR_MNJ> dMaxSpeed;
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Vec<float,LBR_MNJ> lMaxSpeed;
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Vec<float,LBR_MNJ> dGesamt;
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float sampleTime = 0.005f;
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// get current robot constraints
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Vec<float,LBR_MNJ> maxVelocityJoint = SvrData::getInstance()->getMaxVelocity();
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Vec<float,LBR_MNJ> maxAccelarationJoint = SvrData::getInstance()->getMaxAcceleration();
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Vec<float,LBR_MNJ> messuredJointPos = SvrData::getInstance()->getMessuredJointPos();
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Vec<float,LBR_MNJ> commandedJointPos = SvrData::getInstance()->getCommandedJointPos();
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float velocity = SvrData::getInstance()->getRobotVelocity();
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float accelaration = SvrData::getInstance()->getRobotAcceleration();
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// calculate delta positions of movement
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delta = commandedJointPos - messuredJointPos;
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deltaAbs = delta.abs();
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maxJointLocalVelocity = maxVelocityJoint * sampleTime * (velocity/100.0f);
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maxJointLocalAcceleration = maxAccelarationJoint * sampleTime * (accelaration/100.0f);
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// calculate number of movement steps
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dMaxSpeed = maxJointLocalVelocity.celldivide(maxJointLocalAcceleration);
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lMaxSpeed = dMaxSpeed.cellmultiply(dMaxSpeed).cellmultiply(maxJointLocalAcceleration) * 0.5f;
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for (int j=0; j<LBR_MNJ; j++)
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{
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if (lMaxSpeed(j) > deltaAbs(j)/(double)2.0)
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{
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dGesamt(j) = sqrt(deltaAbs(j) / maxJointLocalAcceleration (j))*2.0;
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} else
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{
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dGesamt(j) = dMaxSpeed(j)*2 + (deltaAbs(j)-lMaxSpeed(j)*2.0)/maxJointLocalVelocity(j);
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}
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}
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int maxSteps = ceil(dGesamt.max());
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// there are atleast 2 steps otherwise it is no trajectory
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if (maxSteps == 0 || maxSteps == 1)
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goto end;
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for (int j=0; j<LBR_MNJ; j++)
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{
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dMaxSpeed(j) = ceil( maxSteps /2.0f - sqrt((maxSteps/2.0f)*(maxSteps/2.0f) - deltaAbs(j)/maxAccelarationJoint(j)));
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if (dMaxSpeed(j) == 0.0f)
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{
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maxJointLocalAcceleration(j) = 0.0f;
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} else
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{
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maxJointLocalAcceleration(j) = -deltaAbs(j)/(dMaxSpeed(j)*dMaxSpeed(j)-maxSteps*dMaxSpeed(j));
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}
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maxJointLocalVelocity(j) = dMaxSpeed(j)*maxJointLocalAcceleration(j);
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}
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// do the trajectory
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{
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Vec<float,LBR_MNJ> currentInk;
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Vec<float,LBR_MNJ> currentInkLast;
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Vec<float,LBR_MNJ> currentDist;
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Vec<float,LBR_MNJ> currentDistLast;
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for (int i=0;i<maxSteps;i++)
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{
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for (int j=0;j<LBR_MNJ;j++)
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{
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if (i+1 <= maxSteps/2.0f)
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{
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currentInk(j) = min(currentInkLast(j)+maxJointLocalAcceleration(j),maxJointLocalVelocity(j));
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}else if (i+1 > maxSteps-dMaxSpeed(j))
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{
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currentInk(j) = max(currentInkLast(j)-maxJointLocalAcceleration(j),0.0f);
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}else
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{
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currentInk(j) = currentInkLast(j);
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}
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currentDist(j) = currentDistLast(j) + sgn(delta(j))*currentInk(j);
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currentInkLast(j) = currentInk(j);
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currentDistLast(j) = currentDist(j);
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MSRMSRJNTPOS[j]+= sgn(delta(j))*currentInk(j)*(1./180*M_PI);
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}
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// set new position
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friInst.doPositionControl(MSRMSRJNTPOS);
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}
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}
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end:
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// mark state to be done
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__MSRCMDJNTPOS = false;
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} else if (__CARTMOVE)
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{
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//##########################################################
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//Cartesian Movement
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const float Stiff[6] = {1000.0, 1000.0, 1000.0, 150.0, 150.0, 150.0};
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const float Damp[6] = {0.7, 0.7, 0.7, 0.7, 0.7, 0.7};
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float th = 0.000;
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float deltaCart[12];
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float Pos[12];
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float dist;
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float rot;
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float sum;
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float b;
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float c;
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float t_fact = 1;
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float t_outerT = 0.007;
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float t_innerT = 0.000;
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float t_outerR = 0.007;
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float t_innerR = 0.000;
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while (true)
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{
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for ( int i =0; i < FRI_CART_FRM_DIM; i++)
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{
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Pos[i] = friInst.getMsrCartPosition()[i];
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MSRMSRCARTPOS[i] = friInst.getMsrCartPosition()[i];
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deltaCart[i] = MSRCMDCARTPOS[i]-Pos[i];
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}
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sum = 0;
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for (int i=0; i<3 ; i++)
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{
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sum = sum + (deltaCart[(i*4)+3]*deltaCart[(i*4)+3]);
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}
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dist = sqrt(sum);
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sum = 0;
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for (int i=0;i<12;i++)
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{
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if (i != 3 && i != 7 && i != 11)
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{
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sum = sum + deltaCart[i]*deltaCart[i];
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}
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}
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rot = sqrt(sum);
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b = t_fact*max((float)0.0,(float)min((float)1.0,(t_outerT-dist+(t_innerT-t_outerT))*(1/(t_innerT-t_outerT))));
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c = t_fact*max((float)0.0,(float)min((float)1.0,(float)(t_outerR-rot+(t_innerR-t_outerR))*(float)(1/(t_innerR-t_outerR))));
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if (dist < th)
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{
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for (int i=0; i<3; i++)
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{
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deltaCart[(i*4)+3] = 0;
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}
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}else
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{
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for (int i=0; i<3; i++)
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{
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deltaCart[(i*4)+3] = (deltaCart[(i*4)+3] / dist)*b;
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}
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}
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// check offset to point
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if (rot < th)
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{
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for (int i=0;i<12;i++)
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{
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if (i != 3 && i != 7 && i != 11)
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{
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deltaCart[i] = 0;
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}
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}
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}else
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{
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for (int i=0;i<12;i++)
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{
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if (i != 3 && i != 7 && i != 11)
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{
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deltaCart[i] = (deltaCart[i] / rot)*c;
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}
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}
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}
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for (int i=0;i<12;i++)
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{
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Pos[i]+= deltaCart[i]*0.02;
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}
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friInst.doCartesianImpedanceControl(Pos, Stiff,Damp,NULL,NULL, true);
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}
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}
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//float Stiff[6] = {1000.0, 1000.0, 1000.0, 10.0, 10.0, 10.0};
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//float Damp[6] = {0.7, 0.7, 0.7, 0.7, 0.7, 0.7};
|
|
//float Test[12] = {MSRMSRCARTPOS[0],MSRMSRCARTPOS[1],MSRMSRCARTPOS[2],MSRMSRCARTPOS[3],MSRMSRCARTPOS[4],MSRMSRCARTPOS[5],MSRMSRCARTPOS[6],MSRMSRCARTPOS[7],MSRMSRCARTPOS[8],MSRMSRCARTPOS[9],MSRMSRCARTPOS[10],MSRMSRCARTPOS[11]};
|
|
//friInst.doCartesianImpedanceControl(Test,Stiff, Damp, NULL, NULL, true);
|
|
|
|
// innerhlab 5ms
|
|
friInst.doPositionControl(MSRMSRJNTPOS);
|
|
|
|
//i = 0;
|
|
//}
|
|
//friInst.doCartesianImpedanceControl(Test,Stiff, Damp, NULL, NULL, true);
|
|
}
|
|
return NULL;
|
|
}
|
|
|
|
int main()
|
|
{
|
|
int err = 0;
|
|
//Setting pthread for FRI interface
|
|
pthread_t fri_t;
|
|
//Start fri_thread
|
|
err = pthread_create(&fri_t,NULL,&threadFriDataExchange,NULL);
|
|
if (err > 0 )
|
|
{
|
|
cerr << "Failed: could not create thread\n" << endl;
|
|
return err;
|
|
}
|
|
|
|
|
|
//Start client handling
|
|
SvrHandling *svr = new SvrHandling();
|
|
if (svr == NULL)
|
|
{
|
|
cerr << "Failed: could not create server \n" << endl;
|
|
return -ENOMEM;
|
|
}
|
|
svr->run();
|
|
|
|
return 0;
|
|
}
|