kinematics::DiffWristKinematics Class Reference

Represents the kinematics of a differential wrist. More...

#include <DiffWristKinematics.h>

Public Member Functions
jointpos_t	gearPosToJointPos (const gearpos_t &gearPos) const
	Given a set of gear positions, calculate the resulting position of the joint.
gearpos_t	jointPosToGearPos (const jointpos_t &jointPos) const
	Given a joint position, calculate the positions of the two gears.
jointpos_t	gearPowerToJointPower (const gearpos_t &gearPwr) const
	Given the motor power of each gear, calculate the resulting power of each axis of the joint.
gearpos_t	jointPowerToGearPower (const jointpos_t &jointPwr) const
	Given the desired power of each axis of the joint, calculate the required motor power for each of the gears.

Detailed Description

Represents the kinematics of a differential wrist.

A differential wrist is capable of adjusting both the pitch and roll of an end effector by driving two gears, one on each side. This class can be used to calculate the positions or motor powers of the gears given a desired joint position/power, and vice versa.

Member Function Documentation

gearPowerToJointPower()

jointpos_t kinematics::DiffWristKinematics::gearPowerToJointPower

(

const gearpos_t &

gearPwr

)

const

Given the motor power of each gear, calculate the resulting power of each axis of the joint.

Parameters

gearPwr

The motor power of each gear; each value in the structure should be in the range \([-1, 1]\).

Returns

The resulting power of each axis, in the range \([-1, 1]\).

Warning

This method will always return a normalized power value in the range \([-1, 1]\); if the given gear power values would cause the joint power to be outside of this range (which should only happen if the gear power values themselves were outside of this range) then the resulting vector will be scaled to be in this range, preserving the ratio between components.

jointPowerToGearPower()

gearpos_t kinematics::DiffWristKinematics::jointPowerToGearPower

(

const jointpos_t &

jointPwr

)

const

Given the desired power of each axis of the joint, calculate the required motor power for each of the gears.

Parameters

jointPwr

The desired power of each axis of the joint; each value in the structure should be in the range \([-1, 1]\).

Returns

The required power of each of the gears, in the range \([-1, 1]\).

Warning

Not all combinations of joint power are possible! This method will always return normalized gear power values in the range \([-1, 1]\); if the given joint power values would cause any gear power value to be outside of this range, then the resulting vector will be scaled to be in this range, preserving the ratio between components.

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The documentation for this class was generated from the following files:

• src/kinematics/DiffWristKinematics.h
• src/kinematics/DiffWristKinematics.cpp