=====================================================
ROBOOP -- A robotics object oriented package in C++
DEMO program
=====================================================
=====================================================
Homogeneous transformations
=====================================================
Translation of [1;2;3]
1.000 0.000 0.000 1.000
0.000 1.000 0.000 2.000
0.000 0.000 1.000 3.000
0.000 0.000 0.000 1.000
Rotation of pi/6 around axis X
1.000 0.000 0.000 0.000
0.000 0.866 -0.500 0.000
0.000 0.500 0.866 0.000
0.000 0.000 0.000 1.000
Rotation of pi/8 around axis Y
0.924 0.000 0.383 0.000
0.000 1.000 0.000 0.000
-0.383 0.000 0.924 0.000
0.000 0.000 0.000 1.000
Rotation of pi/3 around axis Z
0.500 -0.866 0.000 0.000
0.866 0.500 0.000 0.000
0.000 0.000 1.000 0.000
0.000 0.000 0.000 1.000
Rotation of pi/3 around axis [1;2;3]
0.536 -0.623 0.570 0.000
0.766 0.643 -0.017 0.000
-0.356 0.446 0.821 0.000
0.000 0.000 0.000 1.000
Rotation of pi/6 around line [1;2;3] -- [3;2;1]
0.750 0.612 -0.250 -0.225
-0.612 0.500 -0.612 3.449
-0.250 0.612 0.750 -0.225
0.000 0.000 0.000 1.000
Roll Pitch Yaw Rotation [1;2;3]
0.412 -0.834 -0.368 0.000
-0.059 -0.427 0.902 0.000
-0.909 -0.350 -0.225 0.000
0.000 0.000 0.000 1.000
Euler ZXZ Rotation [3;2;1]
-0.485 0.865 0.128 0.000
0.423 0.104 0.900 0.000
0.765 0.491 -0.416 0.000
0.000 0.000 0.000 1.000
Inverse of Rotation around axis
0.267
0.535
0.802
1.047
Inverse of Roll Pitch Yaw Rotation
-2.142
1.142
-0.142
Inverse of Euler ZXZ Rotation
3.000
2.000
1.000
Cross product between [1;2;3] and [3;2;1]
-4.000
8.000
-4.000
=====================================================
Robot RR kinematics
=====================================================
Robot D-H parameters
type theta d a alpha
0.000 0.000 0.000 1.000 0.000
0.000 0.000 0.000 1.000 0.000
Robot joints variables
0.000
0.000
Robot position
1.000 0.000 0.000 2.000
0.000 1.000 0.000 0.000
0.000 0.000 1.000 0.000
0.000 0.000 0.000 1.000
Robot joints variables
0.785
0.785
Robot position
0.000 -1.000 0.000 0.707
1.000 0.000 0.000 1.707
0.000 0.000 1.000 0.000
0.000 0.000 0.000 1.000
Robot Jacobian w/r to base frame
-1.707 -1.000
0.707 0.000
0.000 0.000
0.000 0.000
0.000 0.000
1.000 1.000
Robot Jacobian w/r to tool frame
0.707 0.000
1.707 1.000
0.000 0.000
0.000 0.000
0.000 0.000
1.000 1.000
Robot position partial derivative with respect to joint 1
-1.000 0.000 0.000 -1.707
0.000 -1.000 0.000 0.707
0.000 0.000 0.000 0.000
0.000 0.000 0.000 0.000
Robot position partial derivative with respect to joint 2
-1.000 0.000 0.000 -1.000
0.000 -1.000 0.000 0.000
0.000 0.000 0.000 0.000
0.000 0.000 0.000 0.000
Robot inverse kinematics
q start q final q real
0.196 0.785 0.785
0.196 0.785 0.785
=====================================================
Robot RP kinematics
=====================================================
Robot D-H parameters
type theta d a alpha
0.000 0.000 0.000 0.000 -1.571
1.000 0.000 0.000 0.000 0.000
Robot joints variables
0.000
0.000
Robot position
1.000 0.000 0.000 0.000
0.000 0.000 1.000 0.000
0.000 -1.000 0.000 0.000
0.000 0.000 0.000 1.000
Robot joints variables
0.785
4.000
Robot position
0.707 0.000 -0.707 -2.828
0.707 0.000 0.707 2.828
0.000 -1.000 0.000 0.000
0.000 0.000 0.000 1.000
Robot Jacobian w/r to base frame
-2.828 -0.707
-2.828 0.707
0.000 0.000
0.000 0.000
0.000 0.000
1.000 0.000
Robot Jacobian w/r to tool frame
-4.000 0.000
0.000 0.000
0.000 1.000
0.000 0.000
-1.000 0.000
0.000 0.000
Robot position partial derivative with respect to joint 1
-0.707 0.000 -0.707 -2.828
0.707 0.000 -0.707 -2.828
0.000 0.000 0.000 0.000
0.000 0.000 0.000 0.000
Robot position partial derivative with respect to joint 2
0.000 0.000 0.000 -0.707
0.000 0.000 0.000 0.707
0.000 0.000 0.000 0.000
0.000 0.000 0.000 0.000
Robot inverse kinematics
q start q final q real
0.196 0.785 0.785
1.000 4.000 4.000
=====================================================
Robot PUMA560 kinematics
=====================================================
Robot D-H parameters
type theta d a alpha
0.000 0.000 0.000 0.000 1.571
0.000 0.000 0.000 0.432 0.000
0.000 0.000 0.150 0.020 -1.571
0.000 0.000 0.432 0.000 1.571
0.000 0.000 0.000 0.000 -1.571
0.000 0.000 0.000 0.000 0.000
Robot joints variables
0.000
0.000
0.000
0.000
0.000
0.000
Robot position
1.000 0.000 0.000 0.452
0.000 1.000 0.000 -0.150
0.000 0.000 1.000 0.432
0.000 0.000 0.000 1.000
Robot joints variables
0.785
0.785
0.785
0.785
0.785
0.785
Robot position
-0.957 0.250 -0.146 0.017
0.250 0.457 -0.854 -0.196
-0.146 -0.854 -0.500 0.326
0.000 0.000 0.000 1.000
Robot Jacobian w/r to base frame
0.196 -0.230 -0.014 0.000 0.000 0.000
0.017 -0.230 -0.014 0.000 0.000 0.000
0.000 -0.126 -0.432 0.000 0.000 0.000
0.000 0.707 0.707 -0.707 0.500 -0.146
0.000 -0.707 -0.707 -0.707 -0.500 -0.854
1.000 0.000 0.000 0.000 0.707 -0.500
Robot Jacobian w/r to tool frame
-0.183 0.181 0.073 0.000 0.000 0.000
0.057 -0.055 0.358 0.000 0.000 0.000
-0.043 0.293 0.230 0.000 0.000 0.000
-0.146 -0.854 -0.854 0.500 -0.707 0.000
-0.854 -0.146 -0.146 -0.500 -0.707 0.000
-0.500 0.500 0.500 0.707 0.000 1.000
Robot position partial derivative with respect to joint 1
-0.250 -0.457 0.854 0.196
-0.957 0.250 -0.146 0.017
0.000 0.000 0.000 0.000
0.000 0.000 0.000 0.000
Robot position partial derivative with respect to joint 2
0.104 0.604 0.354 -0.230
0.104 0.604 0.354 -0.230
-0.500 0.500 -0.707 -0.126
0.000 0.000 0.000 0.000
Robot position partial derivative with respect to joint 3
0.104 0.604 0.354 -0.014
0.104 0.604 0.354 -0.014
-0.500 0.500 -0.707 -0.432
0.000 0.000 0.000 0.000
Robot position partial derivative with respect to joint 4
0.104 0.604 0.354 0.000
-0.104 -0.604 -0.354 0.000
-0.854 -0.146 0.500 0.000
0.000 0.000 0.000 0.000
Robot position partial derivative with respect to joint 5
-0.104 0.104 0.854 0.000
-0.604 0.604 0.146 0.000
-0.354 0.354 -0.500 0.000
0.000 0.000 0.000 0.000
Robot position partial derivative with respect to joint 6
0.250 0.957 0.000 0.000
0.457 -0.250 0.000 0.000
-0.854 0.146 0.000 0.000
0.000 0.000 0.000 0.000
Robot inverse kinematics
q start q final q real
0.196 0.785 0.785
1.000 0.785 0.785
1.000 0.785 0.785
1.000 0.785 0.785
1.000 0.785 0.785
1.000 0.785 0.785
=====================================================
Robot STANFORD kinematics
=====================================================
Robot D-H parameters
type theta d a alpha
0.000 0.000 0.412 0.000 -1.571
0.000 0.000 0.154 0.000 1.571
1.000 -1.571 0.000 0.000 0.000
0.000 0.000 0.000 0.000 -1.571
0.000 0.000 0.000 0.000 1.571
0.000 0.000 0.263 0.000 0.000
Robot joints variables
0.000
0.000
0.000
0.000
0.000
0.000
Robot position
0.000 1.000 0.000 0.000
-1.000 0.000 0.000 0.154
0.000 0.000 1.000 0.675
0.000 0.000 0.000 1.000
Robot joints variables
0.785
0.785
0.785
0.785
0.785
0.785
Robot position
0.073 -0.280 0.957 0.536
0.280 0.927 0.250 0.567
-0.957 0.250 0.146 1.006
0.000 0.000 0.000 1.000
Robot Jacobian w/r to base frame
-0.567 0.420 0.500 -0.027 0.066 0.000
0.536 0.420 0.500 0.159 -0.120 0.000
0.000 -0.780 0.707 -0.093 -0.224 0.000
0.000 -0.707 0.000 0.500 -0.146 0.957
0.000 0.707 0.000 0.500 0.854 0.250
1.000 0.000 0.000 0.707 -0.500 0.146
Robot Jacobian w/r to tool frame
0.109 0.895 -0.500 0.131 0.186 0.000
0.655 0.077 0.500 0.131 -0.186 0.000
-0.409 0.393 0.707 0.000 0.000 0.000
-0.957 0.146 0.000 -0.500 0.707 0.000
0.250 0.854 0.000 0.500 0.707 0.000
0.146 -0.500 0.000 0.707 0.000 1.000
Robot position partial derivative with respect to joint 1
-0.280 -0.927 -0.250 -0.567
0.073 -0.280 0.957 0.536
0.000 0.000 0.000 0.000
0.000 0.000 0.000 0.000
Robot position partial derivative with respect to joint 2
-0.677 0.177 0.104 0.420
-0.677 0.177 0.104 0.420
-0.250 -0.457 -0.854 -0.780
0.000 0.000 0.000 0.000
Robot position partial derivative with respect to joint 3
0.000 0.000 0.000 0.500
0.000 0.000 0.000 0.500
0.000 0.000 0.000 0.707
0.000 0.000 0.000 0.000
Robot position partial derivative with respect to joint 4
-0.677 -0.530 -0.104 -0.027
0.530 -0.323 0.604 0.159
0.104 0.604 -0.354 -0.093
0.000 0.000 0.000 0.000
Robot position partial derivative with respect to joint 5
-0.677 0.677 0.250 0.066
-0.177 0.177 -0.457 -0.120
-0.104 0.104 -0.854 -0.224
0.000 0.000 0.000 0.000
Robot position partial derivative with respect to joint 6
-0.280 -0.073 0.000 0.000
0.927 -0.280 0.000 0.000
0.250 0.957 0.000 0.000
0.000 0.000 0.000 0.000
Robot inverse kinematics
q start q final q real
0.196 0.785 0.785
1.000 0.785 0.785
1.000 0.785 0.785
1.000 0.785 0.785
1.000 0.785 0.785
1.000 0.785 0.785
=====================================================
Robot RR dynamics
=====================================================
Robot D-H parameters
type theta d a alpha
0.000 0.000 0.000 1.000 0.000
0.000 0.000 0.000 1.000 0.000
Robot D-H inertial parameters
mass cx cy cz Ixx Ixy Ixz Iyy Iyz Izz
2.000 -0.500 0.000 0.000 0.000 0.000 0.000 0.167 0.000 0.167
1.000 -0.500 0.000 0.000 0.000 0.000 0.000 0.083 0.000 0.083
Robot joints variables
0.000
0.000
Robot Inertia matrix
3.000 0.833
0.833 0.333
Feedback gain matrix K
25.000 0.000 7.071 0.000
0.000 25.000 0.000 7.071
time q1 q2 q1p q2p
0.000 0.000 0.000 0.000 0.000
0.058 -0.011 0.081 -0.068 1.715
0.112 -0.004 0.169 0.325 1.537
0.178 0.032 0.264 0.738 1.329
0.229 0.076 0.327 0.991 1.196
0.279 0.132 0.385 1.195 1.081
0.332 0.199 0.439 1.353 0.977
0.387 0.277 0.490 1.465 0.881
0.448 0.367 0.541 1.526 0.790
0.516 0.472 0.591 1.527 0.701
0.597 0.593 0.645 1.448 0.608
0.693 0.725 0.698 1.268 0.510
0.773 0.819 0.736 1.069 0.432
0.845 0.888 0.765 0.869 0.363
0.911 0.939 0.786 0.680 0.300
0.972 0.975 0.803 0.504 0.240
1.031 1.000 0.815 0.343 0.185
1.088 1.016 0.824 0.198 0.134
1.143 1.023 0.830 0.071 0.087
1.196 1.024 0.834 -0.039 0.047
1.269 1.016 0.836 -0.168 -0.002
1.333 1.002 0.834 -0.257 -0.037
1.385 0.987 0.832 -0.314 -0.060
1.446 0.967 0.827 -0.363 -0.080
1.518 0.939 0.821 -0.398 -0.095
1.603 0.904 0.813 -0.412 -0.103
1.707 0.862 0.802 -0.395 -0.100
1.762 0.841 0.796 -0.374 -0.095
1.813 0.823 0.792 -0.349 -0.088
1.904 0.793 0.784 -0.294 -0.073
1.985 0.772 0.779 -0.238 -0.058
2.061 0.756 0.775 -0.185 -0.044
2.132 0.744 0.773 -0.135 -0.031
2.200 0.737 0.771 -0.090 -0.020
2.264 0.732 0.770 -0.051 -0.010
2.323 0.730 0.770 -0.018 -0.001
2.398 0.730 0.770 0.018 0.007
2.456 0.732 0.770 0.041 0.013
2.524 0.736 0.772 0.063 0.018
2.603 0.741 0.773 0.081 0.023
2.695 0.749 0.775 0.093 0.026
2.748 0.754 0.777 0.096 0.026
2.806 0.760 0.778 0.097 0.026
2.873 0.766 0.780 0.094 0.026
2.946 0.773 0.782 0.088 0.024
3.018 0.779 0.784 0.079 0.021
3.083 0.784 0.785 0.069 0.019
3.142 0.788 0.786 0.060 0.016
3.197 0.791 0.787 0.050 0.014
3.249 0.793 0.787 0.042 0.011
3.300 0.795 0.788 0.033 0.009
3.396 0.797 0.789 0.018 0.005
3.485 0.799 0.789 0.006 0.002
3.563 0.799 0.789 -0.003 -0.001
3.637 0.798 0.789 -0.010 -0.003
3.727 0.797 0.788 -0.017 -0.004
3.779 0.796 0.788 -0.019 -0.005
3.837 0.795 0.788 -0.021 -0.006
3.900 0.793 0.788 -0.023 -0.006
3.973 0.792 0.787 -0.023 -0.006
4.000 0.791 0.787 -0.023 -0.006
Press Enter to continue...
Press Enter to continue...
=====================================================
Robot RP dynamics
=====================================================
Robot D-H parameters
type theta d a alpha
0.000 0.000 0.000 0.000 -1.571
1.000 0.000 0.000 0.000 0.000
Robot D-H inertial parameters
mass cx cy cz Ixx Ixy Ixz Iyy Iyz Izz
2.000 0.000 0.000 0.000 1.000 0.000 0.000 1.000 0.000 1.000
1.000 0.000 0.000 -1.000 0.083 0.000 0.000 0.083 0.000 0.083
Robot joints variables
0.000
0.000
Robot Inertia matrix
2.083 0.000
0.000 1.000
=====================================================
Robot PUMA560 dynamics
=====================================================
Robot D-H parameters
type theta d a alpha
0.000 0.000 0.000 0.000 1.571
0.000 0.000 0.000 0.432 0.000
0.000 0.000 0.150 0.020 -1.571
0.000 0.000 0.432 0.000 1.571
0.000 0.000 0.000 0.000 -1.571
0.000 0.000 0.000 0.000 0.000
Robot D-H inertial parameters
mass cx cy cz Ixx Ixy Ixz Iyy Iyz Izz
0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.350 0.000 0.000
17.400 -0.364 0.006 0.228 0.130 0.000 0.000 0.524 0.000 0.539
4.800 -0.020 -0.014 0.070 0.066 0.000 0.000 0.086 0.000 0.013
0.820 0.000 0.019 0.000 0.002 0.000 0.000 0.001 0.000 0.002
0.340 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000
0.090 0.000 0.000 0.032 0.000 0.000 0.000 0.000 0.000 0.000
Robot joints variables
0.000
0.000
0.000
0.000
0.000
0.000
Robot Inertia matrix
3.1771 -0.1627 -0.1389 0.0016 -0.0004 0.0000
-0.1627 2.1318 0.3727 0.0000 0.0019 0.0000
-0.1389 0.3727 0.3618 0.0000 0.0019 0.0000
0.0016 0.0000 0.0000 0.0016 0.0000 0.0000
-0.0004 0.0019 0.0019 0.0000 0.0006 0.0000
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000
Robot Torque
0.0000
37.4837
0.2489
0.0000
0.0000
0.0000
Robot acceleration
-0.1640
-21.3015
21.1946
0.1640
0.2037
0.0000
=====================================================
Robot STANFORD dynamics
=====================================================
Robot D-H parameters
type theta d a alpha
0.000 0.000 0.412 0.000 -1.571
0.000 0.000 0.154 0.000 1.571
1.000 -1.571 0.000 0.000 0.000
0.000 0.000 0.000 0.000 -1.571
0.000 0.000 0.000 0.000 1.571
0.000 0.000 0.263 0.000 0.000
Robot D-H inertial parameters
mass cx cy cz Ixx Ixy Ixz Iyy Iyz Izz
9.290 0.000 0.018 -0.111 0.276 0.000 0.000 0.255 0.000 0.071
5.010 0.000 -1.054 0.000 0.108 0.000 0.000 0.018 0.000 0.100
4.250 0.000 0.000 -6.447 2.510 0.000 0.000 2.510 0.000 0.006
1.080 0.000 0.092 -0.054 0.002 0.000 0.000 0.001 0.000 0.001
0.630 0.000 0.000 0.566 0.003 0.000 0.000 0.003 0.000 0.000
0.510 0.000 0.000 1.554 0.013 0.000 0.000 0.013 0.000 0.000
Robot joints variables
0.000
0.000
0.000
0.000
0.000
0.000
Robot Inertia matrix
4.691 4.037 0.000 0.005 0.000 0.000
4.037 181.090 0.058 0.000 0.000 0.000
0.000 0.058 6.470 0.000 0.000 0.000
0.005 0.000 0.000 0.005 0.000 0.000
0.000 0.000 0.000 0.000 1.902 0.000
0.000 0.000 0.000 0.000 0.000 0.000
ROBOOP - A robotics object oriented package in C++
Copyright © 1996, 1997 Richard Gourdeau.
All products mentioned are registered trademarks or trademarks of
their respective companies.
Questions or problems regarding this web site should be directed
to richard.gourdeau@polymtl.ca
Last modified: Wednesday May 13, 1998.