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| <div class="textblock"><code>#include <<a class="el" href="RobotModelPinocchio_8hpp_source.html">robot_models/pinocchio/RobotModelPinocchio.hpp</a>></code><br /> | ||
| <code>#include <<a class="el" href="QPOasesSolver_8hpp_source.html">solvers/qpoases/QPOasesSolver.hpp</a>></code><br /> | ||
| <code>#include <<a class="el" href="AccelerationSceneTSID_8hpp_source.html">scenes/acceleration_tsid/AccelerationSceneTSID.hpp</a>></code><br /> | ||
| <code>#include <<a class="el" href="JointIntegrator_8hpp_source.html">tools/JointIntegrator.hpp</a>></code><br /> | ||
| <code>#include <<a class="el" href="CartesianPosPDController_8hpp_source.html">controllers/CartesianPosPDController.hpp</a>></code><br /> | ||
| <code>#include <unistd.h></code><br /> | ||
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| <h2 class="memtitle"><span class="permalink"><a href="#ae66f6b31b5ad750f1fe042a706a4e3d4">◆ </a></span>main()</h2> | ||
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| <td class="memname">int main </td> | ||
| <td>(</td> | ||
| <td class="paramname"><span class="paramname"></span></td><td>)</td> | ||
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| <p>Acceleration-based example, Cartesian position control of the KUKA iiwa robot (fixed base, no contacts). In the example the following problem is solved: </p><p class="formulaDsp"> | ||
| \[ | ||
| \begin{array}{ccc} | ||
| minimize & \| \mathbf{J}\ddot{\mathbf{q}} - \dot{\mathbf{v}}_d + \dot{\mathbf{J}}\dot{\mathbf{q}}\|_2\\ | ||
| \mathbf{\ddot{q}},\mathbf{\tau} & & \\ | ||
| s.t. & \mathbf{H}\mathbf{\ddot{q}} - \mathbf{\tau} - \mathbf{J}_{c,i}^T\mathbf{f} = -\mathbf{h}, \, \forall i & \\ | ||
| & \mathbf{\tau}_m \leq \mathbf{\tau} \leq \mathbf{\tau}_M& \\ | ||
| \end{array} | ||
| \] | ||
| </p> | ||
| <p> where </p><p class="formulaDsp"> | ||
| \[ | ||
| \dot{\mathbf{v}}_d = \dot{\mathbf{v}}_r + \mathbf{K}_d(\mathbf{v}_r-\mathbf{v}) + \mathbf{K}_p(\mathbf{x}_r-\mathbf{x}) | ||
| \] | ||
| </p> | ||
| <p> \(\ddot{\mathbf{q}}\) - Vector of robot joint accelerations<br /> | ||
| \(\dot{\mathbf{v}}_{d}\) - desired spatial acceleration / controller output <br /> | ||
| \(\mathbf{\tau}\) - actuation forces/torques<br /> | ||
| \(\mathbf{J}\) - task Jacobian <br /> | ||
| \(\mathbf{H}\) - Joint space inertia matrix<br /> | ||
| \(\mathbf{h}\) - bias forces/torques<br /> | ||
| \(\mathbf{\tau}_m,\mathbf{\tau}_M\) - Joint force/torque limits<br /> | ||
| \(\mathbf{x}_r, \mathbf{x}\) - Reference pose, actual pose<br /> | ||
| \(\mathbf{v}_r, \mathbf{v}\) - Reference spatial velocity, actual spatial velocity<br /> | ||
| \(\dot{\mathbf{v}}_r\) - Reference spatial acceleration (feed forward)<br /> | ||
| \(\mathbf{K}_p, \mathbf{K}_d\) - Proportional, derivative gain matrix<br /> | ||
| </p> | ||
| <p>The end effector is supposed to follow a sinusoidal trajectory. The solver computes the joint accelerations and forces/torques required to generate the desired spatial accelerations given by the Cartesian controller. </p> | ||
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