SiMoRob.IRobot Interface Reference

Interface to Kinematics and Dynamics for Robots. More...

Public Member Functions
DenseVector	kine (DenseVector q)
	Calculate the kinematic forward transformation from the joints positions q1, q2, q3, q4, q5, q6 to the path/orientation x, y, z, RX, RY, RZ.
int	kine (DenseVector q, DenseVector qp, DenseVector qpp, ref DenseVector x, ref DenseVector xp, ref DenseVector xpp)
	Calculate the kinematic forward transformation from the joints positions q1, q2, q3, q4, q5, q6 to the path/orientation x, y, z, RX, RY, RZ and also from the corresponding joints first derivatives qp and second derivatives qpp to the paths/orientations first derivatives xp and second derivatives xpp.
DenseVector	inv_kine (DenseVector x)
	Calculate the kinematic inverse transformation from path/orientation x, y, z, RX, RY, RZ to the joints positions q1, q2, q3, q4, q5, q6.
int	inv_kine (DenseVector x, DenseVector xp, DenseVector xpp, ref DenseVector q, ref DenseVector qp, ref DenseVector qpp)
	Calculate the kinematic inverse transformation from the path/orientation x, y, z, RX, RY, RZ to the joints positions q1, q2, q3, q4, q5, q6 and also from the corresponding first derivatives xp and second derivatives xpp to the joints first derivatives qp and second derivatives qpp.
DenseVector	power (DenseVector q, DenseVector qp, DenseVector qpp)
	Calculate the power consumption from the joints positions q1, q2, q3, q4, q5, q6 and from the corresponding joints first derivatives qp and second derivatives qpp.
DenseVector	torque (DenseVector q, DenseVector qp, DenseVector qpp)
	Calculate the joint torque from the joints positions q1, q2, q3, q4, q5, q6 and from the corresponding joints first derivatives qp and second derivatives qpp.

Properties
string	LicenseKey [get, set]
	To input a Developer or Developer Deploy license string, when read the hardware or software license is stated.
int	degrees_of_freedom [get]
	The degrees of freedom.
DenseVector	q [get, set]
	The arms angular or linear position values.
DenseVector	TCP_Offset [get]
	The TCPs offset regarding the wrist.

Detailed Description

Interface to Kinematics and Dynamics for Robots.

Member Function Documentation

inv_kine() [1/2]

DenseVector SiMoRob.IRobot.inv_kine

(

DenseVector

x

)

Calculate the kinematic inverse transformation from path/orientation x, y, z, RX, RY, RZ to the joints positions q1, q2, q3, q4, q5, q6.

inv_kine() [2/2]

int SiMoRob.IRobot.inv_kine	(	DenseVector	x,
		DenseVector	xp,
		DenseVector	xpp,
		ref DenseVector	q,
		ref DenseVector	qp,
		ref DenseVector	qpp )

Calculate the kinematic inverse transformation from the path/orientation x, y, z, RX, RY, RZ to the joints positions q1, q2, q3, q4, q5, q6 and also from the corresponding first derivatives xp and second derivatives xpp to the joints first derivatives qp and second derivatives qpp.

References q.

kine() [1/2]

DenseVector SiMoRob.IRobot.kine

(

DenseVector

q

)

Calculate the kinematic forward transformation from the joints positions q1, q2, q3, q4, q5, q6 to the path/orientation x, y, z, RX, RY, RZ.

References q.

kine() [2/2]

int SiMoRob.IRobot.kine	(	DenseVector	q,
		DenseVector	qp,
		DenseVector	qpp,
		ref DenseVector	x,
		ref DenseVector	xp,
		ref DenseVector	xpp )

Calculate the kinematic forward transformation from the joints positions q1, q2, q3, q4, q5, q6 to the path/orientation x, y, z, RX, RY, RZ and also from the corresponding joints first derivatives qp and second derivatives qpp to the paths/orientations first derivatives xp and second derivatives xpp.

References q.

power()

DenseVector SiMoRob.IRobot.power	(	DenseVector	q,
		DenseVector	qp,
		DenseVector	qpp )

Calculate the power consumption from the joints positions q1, q2, q3, q4, q5, q6 and from the corresponding joints first derivatives qp and second derivatives qpp.

References q.

torque()

DenseVector SiMoRob.IRobot.torque	(	DenseVector	q,
		DenseVector	qp,
		DenseVector	qpp )

Calculate the joint torque from the joints positions q1, q2, q3, q4, q5, q6 and from the corresponding joints first derivatives qp and second derivatives qpp.

References q.

Property Documentation

degrees_of_freedom

int SiMoRob.IRobot.degrees_of_freedom

get

The degrees of freedom.

LicenseKey

string SiMoRob.IRobot.LicenseKey

getset

To input a Developer or Developer Deploy license string, when read the hardware or software license is stated.

q

DenseVector SiMoRob.IRobot.q

getset

The arms angular or linear position values.

Referenced by inv_kine(), kine(), kine(), power(), and torque().

TCP_Offset

DenseVector SiMoRob.IRobot.TCP_Offset

get

The TCPs offset regarding the wrist.