Manipulator_Geometry Class Reference

This class contains a list of relative and absolute transfer matrices representing the forward kinematics of a manipulator. More...

Inheritance diagram for Manipulator_Geometry:

Public Member Functions
def	__init__
	The Class Constructor: More...
def	__str__
	This function is used to generate a string representing a set of selected object properties and their values. More...
def	transfer_matrices
	Use this function to get the current homogeneous transfer matrices of the manipulator. More...

Public Attributes
	geo_settings
	An instance of class Manipulator_Geometry_Settings containing geometry and dimensions of the manipulator in terms of DH parameters. More...
	ajac
	An instance of class Analytic_Jacobian . More...
	T
	A list of homogeneous transformation matrices. More...
	H
	A list of transformation matrices. More...

Detailed Description

This class contains a list of relative and absolute transfer matrices representing the forward kinematics of a manipulator.

Definition at line 67 of file manipulator_geometry.py.

Constructor & Destructor Documentation

def __init__	(		self,
			config_settings,
			geo_settings
	)

The Class Constructor:

Parameters

config_settings	An instance of class Manipulator_Configuration_Settings containing the configuration settings of the manipulator
geo_settings	An instance of class Manipulator_Geometry_Settings containing the geometric settings of the manipulator

Definition at line 74 of file manipulator_geometry.py.

Member Function Documentation

def __str__	(		self,
			parameter_set = None
	)

This function is used to generate a string representing a set of selected object properties and their values.

If the set of displayed parameters is not specified, property str_parameter_set will be used.

Parameters

parameter_set

A set of parameters to be displayed in the generated string in abbreviation form

Returns

A character string containing the object properties specified by argument parameter_set with their values

Definition at line 97 of file manipulator_geometry.py.

def transfer_matrices

(

self

)

Use this function to get the current homogeneous transfer matrices of the manipulator.

Values of the transfer matrices depend on the manipulator configuration.

Returns

A list of homogeneous 4 X 4 matrices. The i-th element of the list represents the position and orientation of the i-th link.

Definition at line 113 of file manipulator_geometry.py.

Member Data Documentation

ajac

An instance of class Analytic_Jacobian .

This class contains a two-dimensional list of derivatives of absolute homogeneous transfer matrices with respect to each of the joints

Definition at line 84 of file manipulator_geometry.py.

geo_settings

An instance of class Manipulator_Geometry_Settings containing geometry and dimensions of the manipulator in terms of DH parameters.

Definition at line 79 of file manipulator_geometry.py.

H

A list of transformation matrices.

H[i] represents ground (-1) to i transformation matrix. Elements of the list, are 4 X 4 matrices.

Definition at line 91 of file manipulator_geometry.py.

T

A list of homogeneous transformation matrices.

T[i] represents i-1 to i transformation matrix. Elements of the list, are 4 X 4 matrices.

Definition at line 88 of file manipulator_geometry.py.

---

The documentation for this class was generated from the following file:

• manipulator_geometry.py