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Murilo M. Marinho
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[lesson5] Replacing ?? with help() for the proper html to show, but source is no longer shown.
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Lines changed: 143 additions & 40 deletions

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‎dqrobotics/lesson5/lesson_dq5_robot_control_basics_part1.ipynb‎

Lines changed: 143 additions & 40 deletions
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@@ -2,7 +2,7 @@
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"cells": [
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{
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"cell_type": "code",
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"execution_count": null,
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"execution_count": 61,
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"metadata": {},
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"outputs": [],
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"source": [
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"execution_count": 62,
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"metadata": {},
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"outputs": [],
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"source": [
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"execution_count": 63,
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"metadata": {},
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"outputs": [],
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"source": [
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"execution_count": 64,
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"metadata": {},
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"outputs": [
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{
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"name": "stdout",
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"output_type": "stream",
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"text": [
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"Help on function __init__ in module one_dof_planar_robot:\n",
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"\n",
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"__init__(self, l1)\n",
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" Initialize self. See help(type(self)) for accurate signature.\n",
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"\n"
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]
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}
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],
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"source": [
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"from one_dof_planar_robot import OneDofPlanarRobot\n",
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"OneDofPlanarRobot.__init__??"
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"help(OneDofPlanarRobot.__init__)"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"execution_count": 65,
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"metadata": {},
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"outputs": [],
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"source": [
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"execution_count": 66,
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"metadata": {},
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"source": [
@@ -271,20 +283,46 @@
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"execution_count": 67,
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"metadata": {},
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"outputs": [],
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"outputs": [
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{
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"name": "stdout",
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"output_type": "stream",
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"text": [
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"Help on function ikm_tx in module one_dof_planar_robot:\n",
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"\n",
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"ikm_tx(self, tx)\n",
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" fkm calculates the IKM for the 1-DoF planar robot using the\n",
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" desired x-axis translation.\n",
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"\n"
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]
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}
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],
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"source": [
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"OneDofPlanarRobot.ikm_tx??"
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"help(OneDofPlanarRobot.ikm_tx)"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"execution_count": 68,
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"metadata": {},
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"outputs": [],
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"outputs": [
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{
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"name": "stdout",
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"output_type": "stream",
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"text": [
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"Help on function ikm_ty in module one_dof_planar_robot:\n",
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"\n",
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"ikm_ty(self, ty)\n",
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" fkm calculates the IKM for the 1-DoF planar robot using the\n",
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" desired y-axis translation.\n",
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"\n"
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]
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}
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],
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"source": [
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"OneDofPlanarRobot.ikm_ty??"
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"help(OneDofPlanarRobot.ikm_ty)"
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]
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},
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{
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"execution_count": 69,
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"metadata": {},
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"outputs": [],
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"source": [
@@ -332,7 +370,7 @@
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"outputs": [],
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"source": [
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"# Length\n",
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"l1 = 1;\n",
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"l1 = 1\n",
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"\n",
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"# Create robot\n",
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"one_dof_planar_robot = OneDofPlanarRobot(l1)\n",
@@ -395,16 +433,41 @@
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"cell_type": "code",
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"source": [
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"OneDofPlanarRobot.translation_jacobian??"
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"outputs": [
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{
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"name": "stdout",
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"output_type": "stream",
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"text": [
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"\u001b[0;31mSignature:\u001b[0m \u001b[0mOneDofPlanarRobot\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mtranslation_jacobian\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mtheta1\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
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"\u001b[0;31mSource:\u001b[0m \n",
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" \u001b[0;32mdef\u001b[0m \u001b[0mtranslation_jacobian\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0mtheta1\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\n",
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"\u001b[0;34m\u001b[0m \u001b[0;34m''' Calculates the translation Jacobian of the 1-DoF planar\u001b[0m\n",
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"\u001b[0;34m robot. '''\u001b[0m\u001b[0;34m\u001b[0m\n",
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"\u001b[0;34m\u001b[0m \u001b[0;34m\u001b[0m\n",
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"\u001b[0;34m\u001b[0m \u001b[0mj\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0ml1_\u001b[0m\u001b[0;34m*\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m-\u001b[0m\u001b[0mi_\u001b[0m\u001b[0;34m*\u001b[0m\u001b[0msin\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mtheta1\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m+\u001b[0m\u001b[0mj_\u001b[0m\u001b[0;34m*\u001b[0m\u001b[0mcos\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mtheta1\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\n",
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"\u001b[0;34m\u001b[0m \u001b[0;32mreturn\u001b[0m \u001b[0mvec3\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mj\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
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"\u001b[0;31mFile:\u001b[0m ~/git/OpenExecutableBooksRobotics/dqrobotics/lesson5/one_dof_planar_robot.py\n",
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"\u001b[0;31mType:\u001b[0m function"
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]
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}
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],
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"source": [
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"help(OneDofPlanarRobot.translation_jacobian)"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"execution_count": 72,
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"metadata": {},
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"outputs": [
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{
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"name": "stdout",
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"output_type": "stream",
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"text": [
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"Corresponding end effector velocity\n"
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]
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}
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],
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"source": [
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"# Length\n",
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"l1 = 1\n",
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"execution_count": 73,
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"metadata": {},
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"outputs": [
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{
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"name": "stdout",
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"output_type": "stream",
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"text": [
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"t_dot = [-0.00302661 -0.35998728 -0. ]\n"
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]
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}
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],
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"source": [
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"t_dot = Jt*theta1_dot\n",
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"print(f\"t_dot = {t_dot}\")"
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"execution_count": 74,
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"metadata": {},
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"outputs": [
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{
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"name": "stdout",
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"output_type": "stream",
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"text": [
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"t_dot = - 0.19i + 0.74j - 0.71k\n"
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]
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}
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],
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"source": [
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"# Length\n",
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"l1 = 1\n",
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"execution_count": 75,
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"metadata": {},
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"outputs": [],
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"outputs": [
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{
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"name": "stdout",
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"output_type": "stream",
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"text": [
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"Corresponding joint velocity\n"
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]
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}
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],
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"source": [
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"\n",
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"# Get the translation jacobian, based on theta\n",
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"metadata": {},
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"outputs": [
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{
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"name": "stdout",
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"output_type": "stream",
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"text": [
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"theta_dot = [-0.62168767]\n"
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]
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}
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],
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"source": [
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"from dqrobotics.utils.DQ_LinearAlgebra import pinv\n",
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"\n",
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"outputs": [],
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"execution_count": 77,
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"metadata": {},
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"outputs": [
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{
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"name": "stdout",
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"output_type": "stream",
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"text": [
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"Running control loop for 251 iterations.\n"
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]
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}
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],
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"source": [
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"import numpy as np\n",
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"\n",
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},
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},
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},
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"execution_count": 80,
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"metadata": {},
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"outputs": [],
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"source": [

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