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| ==Running the iKin Cartesian interface module==
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| # On a shell go to the iKin Cartesian interface build directory.
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| # Run the server executable with the following parameters.
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| server --from [configFile]
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| # Run the solver executable with the following parameters.
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| solver --from [configFile]
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| The [configFile] should be replace with the path and file name of the configuration file
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|
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| ==iKin Cartesian interface configuration files==
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| Through the configuration files it is possible to determine which is the kinematic description that is needed and which of the parts are needed to control each of the arms.
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| The examples presented are for the left arm, the format is the same for the right arm with minor changes (basically changing the word "left" to "right").
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| ====Server config file====
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| <code>
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| //the kinematics_file refers to the kinematics description file
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| kinematics_file kinematics_left_arm.ini
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| robot vizzy
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| //the part is either the left_arm or the right_arm
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| part left_arm
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| //local port for the ikin server
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| local cartesianController/left_arm
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| [GENERAL]
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| ControllerName vizzy/cartesianController/left_arm
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| // the robot is simulated @ 100Hz, hence let s give it some margin to respond
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| // we ll lower a bit the controller s speed
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| ControllerPeriod 20
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| //the port name for to connect to the solver
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| SolverNameToConnect cartesianSolver/left_arm
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| KinematicPart custom
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| NumberOfDrivers 3
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| //for the vizzy robot to control the arms it needs this three parts
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| [DRIVER_0]
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| Key torso
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| JointsOrder direct
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| [DRIVER_1]
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| Key left_shoulder
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| JointsOrder direct
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| [DRIVER_2]
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| Key left_arm
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| JointsOrder direct
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| </code>
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| ====Solver config file====
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| <code>
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| //the kinematics_file refers to the kinematics description file
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| kinematics_file kinematics_left_arm.ini
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| robot vizzy
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| //the part is either the left_arm or the right_arm
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| part left_arm
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| //local port for the ikin solver
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| name cartesianSolver/left_arm
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| period 30
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| dof (1 1 1 1 1 1 1 1 1)
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| rest_pos (0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0)
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| rest_weights (0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0)
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| pose xyz //full
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| mode shot
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| verbosity on
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| maxIter 200
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| tol 0.0001
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| xyzTol 0.00000001
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| interPoints off
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| ping_robot_tmo 10.0
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| </code>
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| ====Kinematics description file====
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| <code>
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| // 3-links planar manipulator
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| // note that it is not important to set the joints bound coherently with the hardware,
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| // since they will be aligned automatically at run-time through a call to getLimits()
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|
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| H0 (1.0 0.0 0.0 0.0 0.0 0.0 -1.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 1.0) // given per rows (Very precise MATLAB Matrix)
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| numLinks 9
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| link_0 (A 0.0) (D 0.0805) (alpha -90.0) (offset 180.0) (min -20.0) (max 20.0)
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| link_1 (A 0.0) (D -0.212) (alpha -90.0) (offset 0.0) (min -18.0) (max 18.0)
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| link_2 (A 0.0) (D -0.10256) (alpha 90.0) (offset 90.0) (min -75.0) (max 135.0)
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| link_3 (A 0.0) (D 0.0) (alpha -90.0) (offset -70.0) (min 0.0) (max 75.0)
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| link_4 (A 0.0) (D -0.16296) (alpha -90.0) (offset 90.0) (min -85.0) (max 85.0)
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| link_5 (A 0.0) (D 0.0) (alpha 90.0) (offset 0.0) (min -0.0) (max 110.0)
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| link_6 (A 0.0) (D -0.18925) (alpha 90.0) (offset 0.0) (min -85.0) (max 85.0)
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| link_7 (A 0.0) (D 0.0) (alpha 90.0) (offset -90.0) (min -35.0) (max 35.0)
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| link_8 (A 0.100) (D 0.0) (alpha -90.0) (offset 0.0) (min -35.0) (max 35.0)
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| </code>
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| [[Vizzy|<< Back to Vizzy wiki homepage]]
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| [[Category:Robots]]
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| [[Category:Vislab]]
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