Got cyton robot help needed to figure out functions

[adi]

Hi
Can anyone send me some examples of how to use functions given by
Robai to extract the kinematics of the robot?
I want to train the robot to follow a specific path, so I want to get
inverse kinematics of the robot for various positions like in
assistive mode in the viewer
thanks and best regards

[adi]

[LentinJoseph]

Hi Aditya

There are examples placed in the installer itself ,You can
find the example in the following path
"Robai\Cyton Viewer_3.0.20110113\cyton\examples"

The examples we providing are follows

1) Filename: cytonControllerExample.cpp

Description: Example program to exercise the controlInterface class
to facilitate controlling the Cyton arm.

Contents: class cytonControlExample

If you want to move cyton in a specific path ,you can refer this example

2)Filename: cytonControlExample.cpp
Description: Example program to exercise the controlInterface class
to facilitate controlling the Cyton arm.
In this example ,we can feed a position vector ,and the code will find the
desired joint values by inverse kinematics , and move cyton in to that point
.
You can refer this example for doing inverse kinematics .

3)Filename: cytonHardwareExample.cpp

Description: Example program to exercise the hardwareInterface class
of the Cyton arm.

Using this example you can directly control cyton harware .

Hope this data will help you

Regards
Lentin .

[aditya reddy]

Thank you LentinJoseph

I tried it but I did not find the inverse kinematics functions in those   :(

 

regards

[LentinJoseph]

Hi Aditya

 

         In cyton-controlexample ,you can refer  a function called  testControlAndHardware() ,

Inside the function there is an array value

 

// Pick a desired pose that bends the arm over about 90 degrees.

  pos = Array3(-0.1405, 0.0054, 0.4315);

 

This is our postion vector or EndEffector Coordinates .We are feeding this value to actin Controlsystem ,after doing Coordinate transformation .

You will get the joint values for the desired position .

 

Below shows the code snippet for setting the desired position in control system

 

pos = Array3(-0.1405, 0.0054, 0.4315);

   desiredPose.setTranslation(pos);

   std::cout << "Attempting to move EE(" << endEffectorId <<") to position " << pos << std::endl;

 

   // Set the desired final position.

   EcBoolean passed = eeVec[endEffectorId].setParam<EndEffector::DesiredPose>(desiredPose);

 

 

The following loop will calculate the  joint values according to the time

 

for(EcU32 ii=0; ii<steps; ++ii)

   {

      // get the current time

      EcReal currentTime = simTimeStep*ii;

 

      /// calculate new joint values

      passed = control.calculateToNewTime(currentTime);

      passed &= control.getParam<ControlSystem::JointAngles>(jointAngles);

      if(!passed)

 

Hope you get my points

 

Regards

Lentin

[aditya reddy]

Thanks a lot Lentin this will help me a lot

Thank you

[aditya reddy]

I know we can get joint angles, rate from the controller

May I know what more can we get ??

Thank you

[LentinJoseph]

Hi Aditya

 

             I think the following link will help you .

 

http://www.robai.com/content/docs/ActinSE_docs/index.html

 

You will get complete idea about all the classes and methods that used in cyton .

 

Thanks

Lentin

 

From: aditya reddy

Sent: Wednesday, January 11, 2012 12:28 AM

To: cyton-...@googlegroups.com

Subject: Re: Got cyton robot help needed to figure out functions

 

[aditya reddy]

Thank you Lentin
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