=====================================================

 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...



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=====================================================

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.