kinematic.h

00001 /********************************************//**
00002  * @brief
00003  * @file kinematic.h
00004  * @author Daniele Ludovico, Fiorella Sibona
00005  * @date 12/04/2016
00006  * @brief File containing the function to compute the
00007  * kinematic function of a robotic arm.
00008  *
00009  */
00010 
00011 #ifndef KINEMATIC_H_INCLUDED
00012 #define KINEMATIC_H_INCLUDED
00013 
00014 #ifdef __cplusplus
00015 extern "C" {
00016 #endif
00017 
00018 #include <math.h>
00019 #include "matrix.h"
00020 #include "params.h"
00021 
00022 
00023 /********************************************//**
00024  * @brief struct DHP
00025  * denavit hartenberg parameter
00026  ***********************************************/
00027 typedef struct s_DHP{
00028 float d;
00029 float theta;
00030 float a;
00031 float alpha;
00032 } DHP;
00033 
00034 
00035 /********************************************//**
00036  * \brief this function allows to update
00037  * the current dh parameter with the
00038  * actual joints angle
00039  *
00040  * \param pointer to the DH parameter to
00041  * update
00042  * \param pointer to the new joint angle,
00043  * value which update the DHP
00044  *
00045  * \return void
00046  *
00047  ***********************************************/
00048 
00049 void DHP_update(DHP* dhp, matrix* joints);
00050 
00051 /********************************************//**
00052  * \brief this function allows to compute
00053  * the homogeneouse trasformation matrix
00054  * starting from DH parameters
00055  *
00056  * \param pointer to the actual DH parameter
00057  * \param pointer to the trasformation matrix
00058  * to compute
00059  *
00060  * \return void
00061  *
00062  ***********************************************/
00063 
00064 void DH_Transf(DHP* dhp, matrix* T);
00065 
00066 /********************************************//**
00067  * \brief Function which performs the direct
00068  * position kinematic function. Given the
00069  * joints values the TCP pose is computed
00070  *
00071  * \param pointer to the structure containing
00072  * the actual joints values
00073  * \param pointer to the pose structure where
00074  * the result will be stored
00075  *
00076  * \return void
00077  ************************************************/
00078 
00079 void DPKF (matrix* joint, matrix* p);
00080 
00081 /********************************************//**
00082  * \brief Function which returns the
00083  * geometric Jacobian given the joints values
00084  *
00085  * \param pointer to the structure containing
00086  * the joints values
00087  * \param Jg is the address where the
00088  * geometric Jacobian will be stored
00089  * \param T_TCP is the matrix in which the
00090  * homogeneous transformation from 0 to TCP
00091  * is stored once computed
00092  *
00093  * \return void
00094  ***********************************************/
00095 void JacobianG(matrix* joint, matrix* Jg, matrix* T_TCP);
00096 
00097 /********************************************//**
00098  * \brief Function which returns the Analytical Jacobian given the joints values
00099  *
00100  * \param joint is the address to the structure containing the joints values
00101  * \param Ja is the address where the Analytical Jacobian will be stored
00102  *
00103  * \return void
00104  *
00105  ***********************************************/
00106 void JacobianA(matrix* joint, matrix * Ja);
00107 
00108 /********************************************//**
00109  * \brief Computes the inverse kinematics (returns the joints values for a desired pose).
00110  *
00111  * \param p is the pointer to the desired pose
00112  * \param joint is where the result will be saved
00113  *
00114  * \return 0 if the inverse kinematics is computed 
00115  * correctly
00116  * \return 1 if the point to reach is not in the 
00117  * task space
00118  ***********************************************/
00119 int IPKF (matrix* p, matrix* joint);
00120 
00121 void Print_DHP(DHP* dhp);
00122 
00123 #ifdef __cplusplus
00124 }
00125 #endif
00126 
00127 #endif // KINEMATIC_H_INCLUDED
00128 
00129