Admittance controller for an upper body end-effector (right or left wrist) More...

#include <sot/talos_balance/admittance-controller-end-effector.hh>

Inheritance diagram for AdmittanceControllerEndEffector:

Collaboration diagram for AdmittanceControllerEndEffector:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	AdmittanceControllerEndEffector (const std::string &name)

	DECLARE_SIGNAL_IN (dqSaturation, dynamicgraph::Vector)
	Value of the saturation to apply on the velocity output. More...

	DECLARE_SIGNAL_IN (force, dynamicgraph::Vector)
	6d force given by the sensor in its local frame More...

	DECLARE_SIGNAL_IN (Kd, dynamicgraph::Vector)
	Derivative gain (6d) for the error on the force. More...

	DECLARE_SIGNAL_IN (Kp, dynamicgraph::Vector)
	Gain (6d) for the integration of the error on the force. More...

	DECLARE_SIGNAL_IN (q, dynamicgraph::Vector)
	Current joint configuration of the robot. More...

	DECLARE_SIGNAL_IN (w_forceDes, dynamicgraph::Vector)
	6d desired force of the end-effector in the world frame More...

	DECLARE_SIGNAL_INNER (w_dq, dynamicgraph::Vector)
	Internal intergration computed in the world frame. More...

	DECLARE_SIGNAL_INNER (w_force, dynamicgraph::Vector)
	6d force given by the sensor in the world frame More...

	DECLARE_SIGNAL_OUT (dq, dynamicgraph::Vector)
	Velocity reference for the end-effector in the local frame. More...

virtual void	display (std::ostream &os) const

void	init (const double &dt, const std::string &sensorFrameName, const std::string &endeffectorName)
	Initialize the entity. More...

void	resetDq ()
	Reset the velocity. More...

Protected Attributes
pinocchio::Data *	m_data
	Pinocchio robot data. More...

double	m_dt
	Time step of the control. More...

pinocchio::JointIndex	m_endEffectorId
	Id of the joint of the end-effector. More...

bool	m_initSucceeded
	True if the entity has been successfully initialized. More...

double	m_mass

pinocchio::Model	m_model
	Pinocchio robot model. More...

int	m_n
	Dimension of the force signals and of the output. More...

RobotUtilShrPtr	m_robot_util
	Robot Util instance to get the sensor frame. More...

pinocchio::FrameIndex	m_sensorFrameId
	Id of the force sensor frame. More...

dynamicgraph::Vector	m_w_dq
	Internal state. More...

Detailed Description

Admittance controller for an upper body end-effector (right or left wrist)

This entity computes a velocity reference for an end-effector based on the force error in the world frame : w_dq = integral(Kp(w_forceDes-w_force)) + Kd (w_dq)

Definition at line 65 of file admittance-controller-end-effector.hh.

Constructor & Destructor Documentation

◆ AdmittanceControllerEndEffector()

AdmittanceControllerEndEffector ( const std::string & name )

Definition at line 55 of file admittance-controller-end-effector.cpp.

Member Function Documentation

◆ DECLARE_SIGNAL_IN() [1/6]

DECLARE_SIGNAL_IN	(	dqSaturation	,
		dynamicgraph::Vector
	)

Value of the saturation to apply on the velocity output.

◆ DECLARE_SIGNAL_IN() [2/6]

DECLARE_SIGNAL_IN	(	force	,
		dynamicgraph::Vector
	)

6d force given by the sensor in its local frame

◆ DECLARE_SIGNAL_IN() [3/6]

DECLARE_SIGNAL_IN	(	Kd	,
		dynamicgraph::Vector
	)

Derivative gain (6d) for the error on the force.

◆ DECLARE_SIGNAL_IN() [4/6]

DECLARE_SIGNAL_IN	(	Kp	,
		dynamicgraph::Vector
	)

Gain (6d) for the integration of the error on the force.

◆ DECLARE_SIGNAL_IN() [5/6]

DECLARE_SIGNAL_IN	(	q	,
		dynamicgraph::Vector
	)

Current joint configuration of the robot.

◆ DECLARE_SIGNAL_IN() [6/6]

DECLARE_SIGNAL_IN	(	w_forceDes	,
		dynamicgraph::Vector
	)

6d desired force of the end-effector in the world frame

◆ DECLARE_SIGNAL_INNER() [1/2]

DECLARE_SIGNAL_INNER	(	w_dq	,
		dynamicgraph::Vector
	)

Internal intergration computed in the world frame.

◆ DECLARE_SIGNAL_INNER() [2/2]

DECLARE_SIGNAL_INNER	(	w_force	,
		dynamicgraph::Vector
	)

6d force given by the sensor in the world frame

◆ DECLARE_SIGNAL_OUT()

DECLARE_SIGNAL_OUT	(	dq	,
		dynamicgraph::Vector
	)

Velocity reference for the end-effector in the local frame.

◆ display()

void display ( std::ostream & os ) const

virtual

Definition at line 237 of file admittance-controller-end-effector.cpp.

◆ init()

void init	(	const double &	dt,
		const std::string &	sensorFrameName,
		const std::string &	endeffectorName
	)

Initialize the entity.

Parameters

[in]	dt	Time step of the control
[in]	sensorFrameName	Name of the force sensor of the end-effector used in the pinocchio model
[in]	endeffectorName	Name of the endEffectorJoint

Definition at line 87 of file admittance-controller-end-effector.cpp.