FourBars_pendulum.world File Reference IntroductionA planar four bar mechanism with dynamics. The task consists in lifting a heavy load with a four-bar robot with a torque-limited actuator. By accounting for the robot dynamics and torque limitations at the planning stage, we take advantage of gravity, inertia, and centripetal forces to extend the motion capabilities of the robot.
Model ParametersThe robot involves four links cyclically connected with revolute joints from which only joint is actuated. The relative angle with the following link is denoted by , and the robot configuration is then given by . The lenght of the links are set to
The remaining set of geometric and dynamic parameters, such as mass, inertia or friction, are given within the world file accessible at the bottom of the page. Problem DimensionsThe dimensions of the problem are
Process and ResultsThis example is used to visualise the results of the kinodynamic planner. First, to plot the state space manifold, follow these steps (from the main CuikSuite folder):
Now, to solve the kinodynamic planning problem, follow these steps (from the main CuikSuite folder):
Definition in file FourBars_pendulum.world. |
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