Drake
Acrobot< T > Class Template Reference

The Acrobot - a canonical underactuated system as described in Chapter 3 of Underactuated Robotics. More...

#include <drake/multibody/benchmarks/acrobot/acrobot.h>

Public Member Functions

 Acrobot (const Vector3< T > &normal, const Vector3< T > &up, double m1=1.0, double m2=1.0, double l1=1.0, double l2=1.0, double lc1=0.5, double lc2=0.5, double Ic1=.083, double Ic2=.33, double b1=0.1, double b2=0.1, double g=9.81)
 Creates an acrobot model in a plane passing through the world's origin and normal to normal. More...
 
Matrix2< T > CalcMassMatrix (const T &theta2) const
 Computes the mass matrix H(q) for the double pendulum system. More...
 
Vector2< T > CalcCoriolisVector (const T &theta1, const T &theta2, const T &theta1dot, const T &theta2dot) const
 Computes the bias term C(q, v) * v containing Coriolis and gyroscopic effects as a function of the state of the pendulum. More...
 
Vector2< T > CalcGravityVector (const T &theta1, const T &theta2) const
 Computes the effective joint-space torques induced by gravity tau_g(q) containing the effect of gravity as a function of the configuration of the pendulum. More...
 
Isometry3< T > CalcLink1PoseInWorldFrame (const T &theta1) const
 Computes the pose of the center of mass of link 1 measured and expressed in the world frame. More...
 
Isometry3< T > CalcLink2PoseInWorldFrame (const T &theta1, const T &theta2) const
 Computes the pose of the center of mass of link 2 measured and expressed in the world frame. More...
 
Isometry3< T > CalcElbowOutboardFramePoseInWorldFrame (const T &theta1, const T &theta2) const
 Computes the pose of the elbow outboard frame Eo in the world frame W. More...
 
Vector6< T > CalcLink1SpatialVelocityInWorldFrame (const T &theta1, const T &theta1dot) const
 Computes the spatial velocity of the center of mass of link 1 expressed in the world frame. More...
 
Vector6< T > CalcLink2SpatialVelocityInWorldFrame (const T &theta1, const T &theta2, const T &theta1dot, const T &theta2dot) const
 Computes the spatial velocity of the center of mass of link 2 expressed in the world frame. More...
 
Vector6< T > CalcLink1SpatialAccelerationInWorldFrame (const T &theta1, const T &theta1dot, const T &theta1dotdot) const
 Computes the spatial acceleration of the center of mass of link 1 expressed in the world frame. More...
 
Vector6< T > CalcLink2SpatialAccelerationInWorldFrame (const T &theta1, const T &theta2, const T &theta1dot, const T &theta2dot, const T &theta1dotdot, const T &theta2dotdot) const
 Computes the spatial acceleration of the center of mass of link 2 expressed in the world frame. More...
 
CalcPotentialEnergy (const T &theta1, const T &theta2) const
 Computes the total potential energy due to gravity of the acrobot system for the state given by angles theta1 and theta2. More...
 

Detailed Description

template<typename T>
class drake::multibody::benchmarks::Acrobot< T >

The Acrobot - a canonical underactuated system as described in Chapter 3 of Underactuated Robotics.

This system essentially is a double pendulum consisting of two links. Link 1 is connected to the world by a "shoulder" revolute joint parametrized by angle theta1 and Link 2 is connected to Link 1 by an "elbow" revolute joint parametrized by angle theta2.

Template Parameters
TThe vector element type, which must be a valid Eigen scalar.

Instantiated templates for the following kinds of T's are provided:

  • double
  • AutoDiffXd

Constructor & Destructor Documentation

Acrobot ( const Vector3< T > &  normal,
const Vector3< T > &  up,
double  m1 = 1.0,
double  m2 = 1.0,
double  l1 = 1.0,
double  l2 = 1.0,
double  lc1 = 0.5,
double  lc2 = 0.5,
double  Ic1 = .083,
double  Ic2 = .33,
double  b1 = 0.1,
double  b2 = 0.1,
double  g = 9.81 
)

Creates an acrobot model in a plane passing through the world's origin and normal to normal.

Vector up defines the upwards direction on this plane. Both normal and up are expressed in the world's frame. Essentially the two dimensional equations of the acrobot are described in a model frame D within a x-y plane with y the vertical direction and gravity pointing downwards. Thefore the axes defining the model frame D are:

  z_W = normal_W.normalized()
  y_W = (up - up.dot(z_W) * z_W).normalized()
  x_W = y_W.cross(z_W)

The remaining arguments define the properties of the double pendulum system:

  • m1: mass of the first link.
  • m2: mass of the second link.
  • l1: length of the first link.
  • l2: length of the second link.
  • lc1: length from the shoulder to the center of mass of the first link.
  • lc2: length from the elbow to the center of mass of the second link.
  • Ic1: moment of inertia about the center of mass for the first link.
  • Ic2: moment of inertia about the center of mass for the second link.
  • b1: damping coefficient of the shoulder joint.
  • b2: damping coefficient of the elbow joint.
  • g: acceleration of gavity.

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Member Function Documentation

Vector2< T > CalcCoriolisVector ( const T &  theta1,
const T &  theta2,
const T &  theta1dot,
const T &  theta2dot 
) const

Computes the bias term C(q, v) * v containing Coriolis and gyroscopic effects as a function of the state of the pendulum.

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Isometry3< T > CalcElbowOutboardFramePoseInWorldFrame ( const T &  theta1,
const T &  theta2 
) const

Computes the pose of the elbow outboard frame Eo in the world frame W.

Parameters
theta1The shoulder angle in radians.
theta2The elbow angle in radians.
Returns
X_WEo the pose of the elbow frame Eo in the world frame W.

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Vector2< T > CalcGravityVector ( const T &  theta1,
const T &  theta2 
) const

Computes the effective joint-space torques induced by gravity tau_g(q) containing the effect of gravity as a function of the configuration of the pendulum.

Unlike http://underactuated.mit.edu/underactuated.html?chapter=3, cited in this class's documentation, we define tau_g(q) to be on the right hand side of the equations of motion, that is, Mv̇ + C(q, v)v = tau_g(q).

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Isometry3< T > CalcLink1PoseInWorldFrame ( const T &  theta1) const

Computes the pose of the center of mass of link 1 measured and expressed in the world frame.

Parameters
theta1The shoulder angle in radians.
theta2The elbow angle in radians.
Returns
X_WL1 the pose of link 1 measured and expressed in the world frame.

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Vector6< T > CalcLink1SpatialAccelerationInWorldFrame ( const T &  theta1,
const T &  theta1dot,
const T &  theta1dotdot 
) const

Computes the spatial acceleration of the center of mass of link 1 expressed in the world frame.

Parameters
theta1The shoulder angle in radians.
theta1dotThe shoulder angular velocity in radians per second.
theta1dotdotThe elbow angular acceleration in radians per second squared.
Return values
A_WL1_Wthe spatial acceleration of the center of mass of link 1 with respect to the world and expressed in the world frame.

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Vector6< T > CalcLink1SpatialVelocityInWorldFrame ( const T &  theta1,
const T &  theta1dot 
) const

Computes the spatial velocity of the center of mass of link 1 expressed in the world frame.

Parameters
theta1The shoulder angle in radians.
theta1dotThe shoulder angular velocity in radians per second.
Returns
V_WL1_W the spatial velocity of the center of mass of link 1 with respect to the world and expressed in the world frame.

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Isometry3< T > CalcLink2PoseInWorldFrame ( const T &  theta1,
const T &  theta2 
) const

Computes the pose of the center of mass of link 2 measured and expressed in the world frame.

Parameters
theta1The shoulder angle in radians.
theta2The elbow angle in radians.
Returns
X_WL2 the pose of link 2 measured and expressed in the world frame.

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Vector6< T > CalcLink2SpatialAccelerationInWorldFrame ( const T &  theta1,
const T &  theta2,
const T &  theta1dot,
const T &  theta2dot,
const T &  theta1dotdot,
const T &  theta2dotdot 
) const

Computes the spatial acceleration of the center of mass of link 2 expressed in the world frame.

Parameters
theta1The shoulder angle in radians.
theta2The elbow angle in radians.
theta1dotThe shoulder angular velocity in radians per second.
theta2dotThe elbow angular velocity in radians per second.
theta1dotdotThe shoulder angular acceleration in radians per second squared.
theta2dotdotThe elbow angular acceleration in radians per second squared.
Return values
A_WL2_Wthe spatial acceleration of the center of mass of link 2 with respect to the world and expressed in the world frame.

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Vector6< T > CalcLink2SpatialVelocityInWorldFrame ( const T &  theta1,
const T &  theta2,
const T &  theta1dot,
const T &  theta2dot 
) const

Computes the spatial velocity of the center of mass of link 2 expressed in the world frame.

Parameters
theta1The shoulder angle in radians.
theta2The elbow angle in radians.
theta1dotThe shoulder angular velocity in radians per second.
theta2dotThe elbow angular velocity in radians per second.
Returns
V_WL2_W the spatial velocity of the center of mass of link 2 with respect to the world and expressed in the world frame.

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Matrix2< T > CalcMassMatrix ( const T &  theta2) const

Computes the mass matrix H(q) for the double pendulum system.

It turns out that for this system the mass matrix is independent of the shoulder angle theta1.

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T CalcPotentialEnergy ( const T &  theta1,
const T &  theta2 
) const

Computes the total potential energy due to gravity of the acrobot system for the state given by angles theta1 and theta2.

The zero potential energy is defined for y = 0.

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