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Murilo M. Marinho
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[one_dof_planar_robot.py] Adding dependency of lesson5
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‎dqrobotics/lesson5/lesson_dq5_robot_control_basics_part1.ipynb‎

Lines changed: 39 additions & 164 deletions
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"cells": [
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{
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"cell_type": "code",
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"execution_count": 391,
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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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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},
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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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"source": [
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},
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{
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"cell_type": "code",
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"execution_count": 394,
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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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"\u001b[0;31mSignature:\u001b[0m \u001b[0mOneDofPlanarRobot\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m__init__\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[0m\n",
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"\u001b[0;31mDocstring:\u001b[0m Initialize self. See help(type(self)) for accurate signature.\n",
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"\u001b[0;31mSource:\u001b[0m \n",
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" \u001b[0;32mdef\u001b[0m \u001b[0m__init__\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\n",
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"\u001b[0;34m\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0ml1_\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0ml1\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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"execution_count": null,
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"metadata": {},
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"outputs": [],
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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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]
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},
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{
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"cell_type": "code",
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"execution_count": 395,
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"source": [
@@ -196,7 +182,7 @@
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},
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{
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"cell_type": "code",
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"execution_count": 396,
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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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},
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{
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"cell_type": "code",
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"execution_count": 397,
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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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"\u001b[0;31mSignature:\u001b[0m \u001b[0mOneDofPlanarRobot\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mikm_tx\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mtx\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[0mikm_tx\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0mtx\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'''fkm calculates the IKM for the 1-DoF planar robot using the \u001b[0m\n",
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"\u001b[0;34m desired x-axis translation.'''\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[0;31m# Return the angle to reach the desired tx\u001b[0m\u001b[0;34m\u001b[0m\n",
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"\u001b[0;34m\u001b[0m \u001b[0;32mreturn\u001b[0m \u001b[0macos\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mtx\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[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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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"source": [
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"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": 398,
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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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"\u001b[0;31mSignature:\u001b[0m \u001b[0mOneDofPlanarRobot\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mikm_ty\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mty\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[0mikm_ty\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0mty\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'''fkm calculates the IKM for the 1-DoF planar robot using the \u001b[0m\n",
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"\u001b[0;34m desired y-axis translation.'''\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[0;31m# Return the angle to reach the desired ty\u001b[0m\u001b[0;34m\u001b[0m\n",
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"\u001b[0;34m\u001b[0m \u001b[0;32mreturn\u001b[0m \u001b[0masin\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mty\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[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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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"source": [
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"OneDofPlanarRobot.ikm_ty??"
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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": 399,
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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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},
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{
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"cell_type": "code",
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"metadata": {},
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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": 401,
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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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"\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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"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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]
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{
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"metadata": {},
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"outputs": [
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{
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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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"execution_count": null,
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"metadata": {},
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"outputs": [],
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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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"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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"execution_count": null,
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"metadata": {},
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"outputs": [],
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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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{
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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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"execution_count": null,
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"metadata": {},
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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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},
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{
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"metadata": {},
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"outputs": [
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{
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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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"outputs": [],
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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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"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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"execution_count": null,
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"metadata": {},
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"outputs": [],
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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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"outputs": [
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{
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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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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"import numpy as np\n",
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"\n",
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"source": [
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"cell_type": "code",
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"metadata": {},
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"outputs": [
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{
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"ename": "AttributeError",
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"evalue": "'OneDofPlanarRobot' object has no attribute 'plot'",
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"output_type": "error",
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"traceback": [
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"\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
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"\u001b[0;31mAttributeError\u001b[0m Traceback (most recent call last)",
856-
"Cell \u001b[0;32mIn[410], line 52\u001b[0m\n\u001b[1;32m 49\u001b[0m theta1 \u001b[38;5;241m=\u001b[39m theta1 \u001b[38;5;241m+\u001b[39m theta1_dot\u001b[38;5;241m*\u001b[39mtau\n\u001b[1;32m 51\u001b[0m \u001b[38;5;66;03m# Plot the robot\u001b[39;00m\n\u001b[0;32m---> 52\u001b[0m \u001b[43mone_dof_planar_robot\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mplot\u001b[49m(theta1)\n\u001b[1;32m 54\u001b[0m \u001b[38;5;66;03m# Plot the desired position\u001b[39;00m\n\u001b[1;32m 55\u001b[0m \u001b[38;5;66;03m#hold on\u001b[39;00m\n\u001b[1;32m 56\u001b[0m \u001b[38;5;66;03m#plot(tx,ty,'bx')\u001b[39;00m\n\u001b[0;32m (...)\u001b[0m\n\u001b[1;32m 60\u001b[0m \u001b[38;5;66;03m#drawnow; % [For animations only] Ask MATLAB to draw the plot now\u001b[39;00m\n\u001b[1;32m 61\u001b[0m \u001b[38;5;66;03m#pause(0.001) % [For animations only] Pause so that MATLAB has enough time to draw the plot\u001b[39;00m\n",
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"\u001b[0;31mAttributeError\u001b[0m: 'OneDofPlanarRobot' object has no attribute 'plot'"
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]
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}
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],
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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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