cuiksingequations.c File Reference Detailed DescriptionTakes as input a world description and generates a cuik file with the kinematic equations and with the variables for joint limits properly re-written to produce singularities when their limit is reached. Moreover, if we are interested in the translation of a particular link equations giving its position in the global frame are added. Note that cuiksingequations is only part of the process to generate systems charaterizing singularities. This generates a cuik file where to look for the variables of interest. Then we have to extend this cuik file with the linear combination of the Jacobian for the non-interesting variables. See examples/WSSingularities for examples of how to use this application. IMPORTANT: The automatic generation of equations to detect singularities is still in development. The tools currently included in the CuikSuite (including this one) can only deal with simple cases (e.g. planar robots with 3 degrees of freedom). Thus, right now it is advisable to manually generate these equations following the instructions given in the work by O. Bohigas, M. Manubens, and L. Ros.
Definition in file cuiksingequations.c.
Function Documentation
Main body of the cuiksingequations application. Use:
where
Definition at line 86 of file cuiksingequations.c. References CreateFileName(), CUIK_EXT, DeleteCuikSystem(), DeleteFileName(), DeleteParameters(), DeleteWorld(), Error(), GenerateWorldSingularityEquations(), GetFileFullName(), InitParametersFromFile(), InitWorldFromFile(), JOINTS_EXT, LinkFileNmeWithExtension(), LINKS_EXT, PARAM_EXT, PrintCuikSystem(), and WORLD_EXT. |
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