Classes for forward-inverse kinematics and dynamics of serial-links chains of revolute joints and iCub limbs. More...
Collaboration diagram for iDyn:
Modules | |
| iDynBody | |
| Classes for connecting multiple limbs and solve whole body dynamics. | |
| IDynContact | |
| Classes for external contact force/torque computation. | |
| RecursiveNewtonEuler | |
| Classes for force/torque computation using Newton-Euler recursive formulation, both in the forward/backward sense. | |
| iDynInv | |
| Classes for force/torque computation in a dynamic chain, where a single FT sensor is placed. | |
| iDynTransform | |
| Classes for FT sensor transformation. | |
Classes | |
| class | iCub::iDyn::iDynLink |
| A base class for defining a Link with standard Denavit-Hartenberg convention, providing kinematic and dynamic information. More... | |
| class | iCub::iDyn::iDynChain |
| A Base class for defining a Serial Link Chain, using dynamics and kinematics. More... | |
| class | iCub::iDyn::iDynLimb |
| A class for defining a generic Limb within the iDyn framework. More... | |
| class | iCub::iDyn::iCubArmDyn |
| A class for defining the 7-DOF iCub Arm in the iDyn framework. More... | |
| class | iCub::iDyn::iCubArmNoTorsoDyn |
| A class for defining the 7-DOF iCub Arm in the iDyn framework. More... | |
| class | iCub::iDyn::iCubTorsoDyn |
| A class for defining the 3-DOF iCub Torso in the iDyn framework. More... | |
| class | iCub::iDyn::iCubLegDyn |
| A class for defining the 6-DOF iCub Leg. More... | |
| class | iCub::iDyn::iCubLegDynV2 |
| A class for defining the 6-DOF iCub Leg. More... | |
| class | iCub::iDyn::iCubNeckInertialDyn |
| A class for defining the 3-DOF Inertia Sensor Kinematics. More... | |
| class | iCub::iDyn::iCubNeckInertialDynV2 |
| A class for defining the 3-DOF Inertia Sensor Kinematics (V2 HEAD) More... | |
Detailed Description
Classes for forward-inverse kinematics and dynamics of serial-links chains of revolute joints and iCub limbs.
It is basically an extension of the iKin library, including dynamics. The library also provides a Newton-Euler based method to compute forces, moments, and joint torques, for each link and for FT sensor placed anywhere in the chain.
- Note
- SI units adopted: meters for lengths and radians for angles.
Dependencies
- ctrlLib
- iKin
Description
iDyn is basically an extension of the iKin library, including serial-links chain dynamics. Thus, starting from Links (from iKinLink to iDynLink) the library provides classes for links, chain of links, and generic limbs. Of course, iCub limbs are included. In order to compute forces, moments, and joint torques, a Newton-Euler recursive formulation is provided: in the iDynChain class, the dynamics of the chain (ie computing forces and torques for each link given the dynamic information of each link and the joints configuration - pos, vel, acc) can be computed by means of the classical Newton-Euler algorithm. It is also possible to retrieve joint torques of iCub limbs with single FT sensor measurements: to this scope, iDynSensor must be used. Furthermore, projection of forces along the chain is supported: to this scope, iDynTransform must be used.
Tested OS
Windows
Example Instantiation of the Module
Exe
- Note
- Release status: this library is currently under development! Date: first draft 05/2010
Copyright (C) 2010 RobotCub Consortium CopyPolicy: Released under the terms of the GNU GPL v2.0.
