Drake

This class is a MultibodyTree model for a 7DOF Kuka iiwa robot arm. More...
#include <drake/multibody/benchmarks/kuka_iiwa_robot/drake_kuka_iiwa_robot.h>
Public Member Functions  
DrakeKukaIIwaRobot (double gravity)  
Construct a 7DOF Kuka iiwa robot arm (from file kuka_iiwa_robot.urdf). More...  
int  get_number_of_rigid_bodies () const 
This method gets the number of rigid bodies in this robot. More...  
SpatialKinematicsPVA< T >  CalcEndEffectorKinematics (const Eigen::Ref< const VectorX< T >> &q, const Eigen::Ref< const VectorX< T >> &qDt, const Eigen::Ref< const VectorX< T >> &qDDt) 
This method calculates kinematic properties of the endeffector (herein denoted as rigid body G) of a 7DOF KUKA LBR iiwa robot (14 kg payload). More...  
KukaRobotJointReactionForces< T >  CalcJointReactionForces (const Eigen::Ref< const VectorX< T >> &q, const Eigen::Ref< const VectorX< T >> &qDt, const Eigen::Ref< const VectorX< T >> &qDDt) 
This method calculates joint reaction torques/forces for a 7DOF KUKA iiwa robot, from known joint angles and their 1st and 2nd timederivatives. More...  
Does not allow copy, move, or assignment  
DrakeKukaIIwaRobot (const DrakeKukaIIwaRobot &)=delete  
DrakeKukaIIwaRobot &  operator= (const DrakeKukaIIwaRobot &)=delete 
DrakeKukaIIwaRobot (DrakeKukaIIwaRobot &&)=delete  
DrakeKukaIIwaRobot &  operator= (DrakeKukaIIwaRobot &&)=delete 
This class is a MultibodyTree model for a 7DOF Kuka iiwa robot arm.
It is used to compare Drake results for the robot endeffector (rigid linkG) relative to world (Newtonian frame linkN) versus MotionGenesis solution. This class takes input values for each of the 7 joint angles (q) as well as their 1st and 2nd time derivatives (q̇, q̈) and calculates the endeffector rotation matrix (relative to world), position (from world origin) angular velocity, velocity, angular acceleration, and acceleration. Geometrical and connectivity data is in file kuka_iiwa_robot.urdf.

delete 

delete 

inlineexplicit 
Construct a 7DOF Kuka iiwa robot arm (from file kuka_iiwa_robot.urdf).
The robot is constructed with 7 revolute joints.
[in]  gravity  Earth's gravitational acceleration in m/s². The world zunit vector is vertically upward. If a gravity value of 9.8 is passed to this constructor, it means the gravity vector is directed opposite the world upward zunit vector (which is correct – gravity is downward). 

inline 
This method calculates kinematic properties of the endeffector (herein denoted as rigid body G) of a 7DOF KUKA LBR iiwa robot (14 kg payload).
Righthanded orthogonal unit vectors Nx, Ny, Nz are fixed in N (Earth) with Nz vertically upward and righthanded orthogonal unit vectors Gx, Gy, Gz are fixed in G. The origin of frame N (Earth) is denoted No. The origin Go of endeffector G is located at G's inboard revolute joint.
[in]  q  robot's joint angles (generalized coordinates). 
[in]  qDt  1sttimederivative of q. 
[in]  qDDt  2ndtimederivative of q. 

inline 
This method calculates joint reaction torques/forces for a 7DOF KUKA iiwa robot, from known joint angles and their 1st and 2nd timederivatives.
[in]  q  robot's joint angles (generalized coordinates). 
[in]  qDt  1sttimederivative of q. 
[in]  qDDt  2ndtimederivative of q. 

inline 
This method gets the number of rigid bodies in this robot.

delete 

delete 