pub/Portique/MaintenancePortique/portique-03012003-clos.txt,v010044401651410141665000000044470766317676600243460ustar00nobodysed00002100000007head 1.1; access; symbols; locks nobody:1.1; strict; comment @# @; 1.1 date 2003.05.22.16.42.30; author RogerPissard; state Exp; branches; next ; desc @none @ 1.1 log @Problme de connection vido (03/01/2003) - CLOS @ text @Incident: Le portique ne demarre pas. --------- Description du Test: -------------------- setenv LD_LIBRARY_PATH ${LD_LIBRARY_PATH}:/local/projets/robotique/lib/solaris cd /local/projets/robotique/src/Robctl/TEST testRobctlPORTIQUE (lance un menu sous unix, et lance kwak avec un shell) Avec le menu, on ouvre la connexion ('C') et on init le robot ('o') le menu ne rend pas la main.... I - Verif. du driver = OK -------------------------- Lancement kwak minimum: ----------------------- windsh kwak@@chimay ld < /local/projets/robotique/lib/vxworks/moduleIP.l ld < /local/projets/robotique/lib/vxworks/drvPortique.vxo Sortie Butee : -------------- A/U on (l'arret d'urgence positionne) -> portiqueOpen 0 -> portiqueBreakOn A/U off Le frein est enleve, on remonte le robot et on le bloque par A/U on -> portiqueBreakOff Init du robot -> portiqueInitAxis Le robot s'initialise bien . -> portiqueClose II - Visu du stdout Vxworks: ----------------------------- setenv LD_LIBRARY_PATH ${LD_LIBRARY_PATH}:/local/projets/robotique/lib/solaris cd /local/projets/robotique/src/Robctl/TEST testRobctlPORTIQUE (lance un menu sous unix, et lance kwak avec un shell) Pour avoir le printf sous Vxworks ->?source /local/projets/robotique/wind/.wind/xxVio.tcl ->?xxConsoleCreate 4 ->?xxConsoleStd 4 DANS LA CONSOLE VIRTUELLE: -------------------------- VIO Console Create succeeded! Std I/O set here ! sockServer: SERVER on port 2000 host 194.199.21.102 sockServeromp: CLIENT on port 32926 host 194.199.21.243 Wait for a client to connect... #socket ok dbv4xLibInit complete created board handle created tim handle created tim handle Enable interupt Enable interupt Start the cpu runnning video mode unknown or not given, take R mode c40SendMsgToC40:loop timeout(still waiting)(2) c40SendMsgToC40:loop timeout(still waiting)(2) LES DSP bloquent... RESOLUTION: ----------- Les cables 'red IN' et 'green IN' des DSP etaient deconnectés. Il faut les brancher sur le moniteur (OUT RGB). Si les DSPs n'ont pas les signaux videos (pas d'alim, decablage), le portique bloque en attendant 1 reponse de leur part.@ pub/Portique/WebHome/cablevideo.gif010064401651410141665000000222570766317625200177750ustar00nobodysed00002100000007GIF87a2,2ڋ޼H扦ʶ L ĢL*̦ JԪjܮ N (8HXhx)9IYiy *:JZjz +;K[k{ ,N^n~/?O_o0 <0… :|1ĉ+Z1;z2ȑ$K< ʕ,p2Cl&4k)B0 ( | 4R ƴUgԨbP6'֭ix5˴gܱc۾|{uhwZ(=7p~]L0Ꮞn,BlN>*BŒ 3Ԋ=x(B˕͵1:{%7 NU+ʧJ>[_󬞯}k]zo]~᧮zsx_~MG\HMhGtt.HOU rakQ}}aXη8#/أ3VWc7yCcc8آ&"fH&9e'nWi^&( vGf*fcFRfnSr>9&Kggzȧ~O^ (\UzTqjB Aifg`_v'=jֶY:椩{v٪ᅖ7+s=YܦĆ)桸U౜](l>W}hZnn oKoދoo pLpp /p? qOLq_qoq r"Lr&r*r. s2Ls6ߌs:s> tBMt6k4mزFc$!m?mARKDY_&x͵@Vv ٴJ&ѶrcޭN@77{3xN 7?>ScWhy/g1zNЀN:>ӎN])/7^\6n d 8 sS C;ywn'){V>*l J 4u ]B4< MgQ]?;͏fE*nKIRXE-S(FiE.͔L)eZ\q ԧUNCɭՉ,ȝS^[tcj ZC,cT $yaC#ٚf(k]_a@u}sZѮ誇JkX23EWp?,e͒!pN?:A\hKTVF(酗L"%{B!ҢYcST2L%m-D Sez~{$d6 {;dvAN1aX[JZݣoQ=&֓VjW=.DJr"v+Y%0k^t(%v5VQVRccY* .=_K28!pQ;sDcnEp5BZ$ؼ>><` ˘|!+]B9Q&"JY0]^U;&WxDR)k/2&,0 (v 3oxћ ft.4a4-\<^1Y?E|o4Ybt@Ńvf!fc;!bRn ]fnZ~VZJ[痙VLd%Sr^c)Ei-ڧ0G쟡*g[)armq8WiMP x35㴪7= OǞYq<9S\0 D5%& Bvi^Hw3 #ԩt@=Ewлm~ǛIMTT? %0AQN( uRGM Mh@VS{|(evO!xw !h "mp`Y*K+Ouv9W*؂l $׊vh{.zuaՐ9?zǐdV8 G "yT&sx*Ӓ.w5@X0:9u0 ?eCj`GyNK)@=)6UהZSYy]?_ Ws#ĔWV9XSL%4hRɇ*g;x7 5(S&b W)ֈB{||UuNfs %HV5D|z W!meX*Cc'oeY+m1)hfڒ^%k&m6o{IٖHk5_I{iJtfVH;b P9f+g % %llteMmkѹFk/\6Yʹh]oL2i(2bϧh i1g^:gNh|iݷ+*poQhT,AycdWg mLr ȃ|*W Xr<7 ɟK[S&3բ)5,du P k["*S\lѤɪlcYt**i}CiIG[lM%DfŨ척Z{#;)OьB/U`J(gPܜNʽlvF cf{|v NKϰ[ \ΒLzЛ:,'Y)їH X|hk} bmԥD'ljYo Y8I,ny:4+K'dZ,'6M.]NIJ=˾H-@޵=>Mm=Tj ^{p{yuMeCJ#uPs>R|=~N>醮N݇Nꪭ駎ꦮ Nb6۵n^뮎^%.J^Ѭ ˞3HiS8S 8:AQGUH u5_kZ66k>4 ݋!AS|D+j\<+imqZ3S!{Ƶ>f@7þŨߨ)4on { yB:=?/49NvRFr˹]T3V_:W{ȋϦ.4d/-L_@Phi1ޅ6rP~(۳Uk~5(v*Oޥ &F\ X1IVjA(.osI|㻎Ȋb\7N/H$erE/xmr=?^LVoj>Jk'o7<4¸M1u=V{qQ˽P|Ap'WNHˡGOps׫Sl{%?|27z?j?ˏ,P?JA2dPJ, 1,$ IL>G,QC W `ܢFq(n:m,Ta4E!Q=2KM4J-SYbOITԑNU7gqUHͲHg͵Tq_Va%"cDVecgVZfeZɪVVl +p-'rM$tm!vݍWOyuze'}X``B >Xan8Ä8H)11㍽㏍Yd<`ONYHYF Yfng;q^y}衋 UW1 XUL1FzPHꊳ^ S kܚ⮙j4[b]M{j[Q;5sV;p[^f|KM ?n$NzBy4>4)tڼp<{B/.lJa[\r85xWF)ً?~{/Vpϩ])=w[3;^>‡z'x^%< p]tt?os[׺. 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Q*b,3k.,/.Aq&1+"-'m0ek1r-*%,;2 p>' N4O"S%Mp O"͐5)2%,%SJ6rG37De309hI -hx&.i;89,9o!! vnSS=6q9ݱ>>r;Sk1??e R@@Ň7=SAAB 4VB9"C8?TDC1DCME7&9SEFF;4+ǞSGQD{HK-:HsD'7RIG{PJNg7JHvlt=LtB7LK$ǴDTE4<M4F1@@3N fISTTOe$}\o* PdOoM 5PsH5%Q'+L/X+}6RQTS?uRG3uOKUTW5[K_SCTg5 SUQoUkUUwVE(tXQU)4YNY!Z@@Z Qu[[[5\u\ɵ\\5]u]ٵ]u| ;@ ehcH$eYxoq(sHuh.qFtWL=+R;惐}{gU@@hyH:(dVÉ{ሞbrpub/Portique/WebHome/portique/004077500000000141665000000000000766342047700165265ustar00rootsed00002100000007pub/Portique/WebHome/portique/figure.pl010066400000000141665000000002410766342047600203350ustar00rootsed00002100000007
  • plan mcanique du portique
  • dispositions des repres de travail pub/Portique/WebHome/portique/portique.html010066400000000141665000000061040766342047600212610ustar00rootsed00002100000007 Le Portique - description hardware et software next up previous
    Next: Objectifs

    Le Portique - description hardware et software

    Herv Mathieu et Roger Pissard-Gibollet

    mars 1997



    Herve Mathieu
    Tue Jul 21 15:09:01 MDT 1998
    pub/Portique/WebHome/portique/node1.html010066400000000141665000000125120766342047600204170ustar00rootsed00002100000007 Objectifs next up previous
    Next: Architecture du Systme Up: Le Portique - description Previous: Le Portique - description

    Objectifs

    L'objectif de ce systme exprimental est de fournir aux chercheurs des projets MOVI et SHARP, un robot muni de camra(s) pour exprimenter. Les deux types d'application prvues dans le cahier des charges est

    • de pouvoir dplacer en position la ou les camras dans un espace cube afin de prendre des images, et
    • de faire de la commande rfrence vision et de la coopration entre le robot portique et le robot RX90 Staubli.

    La ralisation du robot portique a t entirement confie en 1996 la socit SINTERS gif.

    Les performances sont :

    AXE X Y Z SITE ASIMUTH
    Rsolution Codeurs(trait/tour) 500 500 500 500 500
    Vitesse Maxi 60 cm/s 60 cm/s 30 cm/s 0,2 t/s 0,1 t/s
    Vitesse Mini 1 cm/s 1 cm/s 1 cm/s 0,003 t/s 0,003 t/s
    Course 2360 mm 2000 mm 800 mm +/-170 deg +/-170 deg
    Frein de maintien non non oui non non

    next up previous
    Next: Architecture du Systme Up: Le Portique - description Previous: Le Portique - description

    Herve Mathieu
    Tue Jul 21 15:09:01 MDT 1998
    pub/Portique/WebHome/portique/node2.html010066400000000141665000000051340766342047600204220ustar00rootsed00002100000007 Architecture du Systme next up previous
    Next: Modles Geomtriques et Cinmatiques Up: Le Portique - description Previous: Objectifs

    Architecture du Systme

    Le robot portique possde 5 axes motoriss, les trois premiers permettant un dplacement cartsien, les deux derniers des rotations en site et azimuth d'une tte une ou deux camras.

       figure15
    Figure 1: plan mcanique du portique

    On peut distinguer une partie mcanique et puissance ralise partir de :

    Le robot portique est construit base de :

    • profils aluminium BOSH
    • des servomoteurs CC de marque PARVEX (Gec Alsthom) coupls des variateurs de marque TSA (TRM 6018) pour les trois premiers axes (translation)
    • des plateaux tournants de marque MICRO-CONTROLE coupls des variateurs de vitesse de marque INFRANOR (MS60) pour les deux rotations

    et une partie commande composes de :

    • une carte VME MOTOROLA (MVME167) avec un processeur 68040, une connection ethernet et des connections series
    • une carte GREENSPRING (VIPC610) en guise de IP-module carrier board, avec quatre module IP, trois TIP-102 de marque TEWS et un CIO-32 de marque ACTIS

    Le systme se contrle partir de VxWorks.


    Herve Mathieu
    Tue Jul 21 15:09:01 MDT 1998
    pub/Portique/WebHome/portique/node3.html010066400000000141665000000052740766342047600204300ustar00rootsed00002100000007 Modles Geomtriques et Cinmatiques next up previous
    Next: Notations Up: Le Portique - description Previous: Architecture du Systme

    Modles Geomtriques et Cinmatiques



    Herve Mathieu
    Tue Jul 21 15:09:01 MDT 1998
    ystme

    Modles Geomtriques et Cinmatiques


    • Notations
    • Contrle du repre effecteur
        pub/Portique/WebHome/portique/node4.html010066400000000141665000000064300766342047600204240ustar00rootsed00002100000007 Notations next up previous
        Next: Contrle du repre effecteur Up: Modles Geomtriques et Cinmatiques Previous: Modles Geomtriques et Cinmatiques

        Notations

           figure26
        Figure 2: dispositions des repres de travail

        les notations prises sont :

        • x,y,z,s,a les degrs de liberts du robot portique. (x,y,z) pour la partie cartsienne, (s,a) pour les deux rotations de la tte (site et azimuth)
        • Rb, Re, Rcg, Rcd respectivement les repres lie la base, l'effecteur, la camra gauche, la camra droite
        • q1, q2, q3, q4, q5 les positions des axes motoriss x,y,z,s,a

        • displaymath437

          les vitesses instantanes des axes motoriss x,y,z,s,a

        • displaymath438

          est la coordonne en x du point E exprim dans le repre Rb

        • displaymath439

          est un vecteur exprim dans le repre Rb

        • RTL paramtrage en Roulis-Tanguage-Lacet

        • displaymath440

          sont les angles exprims en RTL c'est dire Roulis Tangage Lacet

        • displaymath441

          sont les vitesses instantanes du point (x,y,z)

        • displaymath442

          sont les vitesses instantanes en RTL

        • displaymath443

          les coordonnes du vecteur de rotation instantane

        • displaymath444

          transpose de la matrice R

        Les positions initiales du robot portique, obtenues par recalage, se trouve, si l'on se place la place du RX90, gauche et vers soi (x et y), la tte vers le bas (z), les camras orientes face soi (site et azimuth).


        Herve Mathieu
        Tue Jul 21 15:09:01 MDT 1998
        pub/Portique/WebHome/portique/node5.html010066400000000141665000000040340766342047600204230ustar00rootsed00002100000007 Contrle du repre effecteur next up previous
        Next: Matrice de Transfert Up: Modles Geomtriques et Cinmatiques Previous: Notations

        Contrle du repre effecteur

        On appel le repre effectuer, le repre centr sur l'intersection des deux axes de rotations du robot portique, et dont les axes sont la position Zro parallle ceux de la base.



        Herve Mathieu
        Tue Jul 21 15:09:01 MDT 1998
        pub/Portique/WebHome/portique/node6.html010066400000000141665000000027200766342047600204240ustar00rootsed00002100000007 Matrice de Transfert next up previous
        Next: Modles gometrique direct et Up: Contrle du repre effecteur Previous: Contrle du repre effecteur

        Matrice de Transfert

        displaymath453


        Herve Mathieu
        Tue Jul 21 15:09:01 MDT 1998
        DY LANG="EN"> Modles gometrique direct et inverse en RTL next up previous
        Next: Modles cinmatique direct et Up: Contrle du repre effecteur Previous: Matrice de Transfert

        Modles gometrique direct et inverse en RTL

        La mcanique du robot portique permet d'avoir des expressions trs simples :

        displaymath455

        A noter que cette mme mcanique ne nous permet pas d'avoir de tanguage.


        Herve Mathieu
        Tue Jul 21 15:09:01 MDT 1998
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$key = q/{displaymath}M_Omega-;SPMgt;RTL=left(arrayccc0;SPMamp;0;SPMamp;1-sin(q4);SPMamp;cos(q4);SPMamp;0cos(q4);SPMamp;sin(q4);SPMamp;01;SPMamp;0;SPMamp;0arrayright){displaymath}/; $cached_env_img{$key} = ' displaymath468 '; $key = q/{_inline}$M_RTL-;SPMgt;Omega${_inline}/; $cached_env_img{$key} = ''; $key = q/{displaymath}phi,theta,psi{displaymath}/; $cached_env_img{$key} = ' displaymath440 '; $key = q/{displaymath}omega_x,omega_y,omega_z{displaymath}/; $cached_env_img{$key} = ' displaymath443 '; $key = q/{displaymath}left(arraycq1q2q3arrayright)=left(arraycx_cy_cz_carrayright)^Rb-R*Tc{displaymath}/; $cached_env_img{$key} = ' displaymath498 '; $key = q/{displaymath}left(arraycdotxdotydotzdotphidotthetadotpsiarrayright)^Re=left(arrayccR^t;SPMamp;00;SPMamp;R^tarrayright)*left(arraycdotq1dotq2dotq3dotq40dotq5arrayright){displaymath}/; $cached_env_img{$key} = ' displaymath458 '; $key = q/{displaymath}left(arraycXYZ1arrayright)^Rb==left(arrayccR*Rc;SPMamp;R*Tc+T000;SPMamp;1arrayright)*left(arraycXYZ1arrayright)^Rc{displaymath}/; $cached_env_img{$key} = ' displaymath490 '; $key = q/{displaymath}left(arraycXYZ1arrayright)^Rb=left(arraycccccos(q4);SPMamp;-sin(q4)*cos(q5);SPMamp;-sin(q4)*sin(q5);SPMamp;q1sin(q4);SPMamp;cos(q4)*cos(q5);SPMamp;cos(q4)*sin(q5);SPMamp;q20;SPMamp;-sin(q5);SPMamp;cos(q5);SPMamp;q30;SPMamp;0;SPMamp;0;SPMamp;1arrayright)*left(arraycXYZ1arrayright)^Re=left(arrayccR;SPMamp;T000;SPMamp;1arrayright)*left(arraycXYZ1arrayright)^Re{displaymath}/; $cached_env_img{$key} = ' displaymath453 '; $key = q/{displaymath}left(arraycXYZ1arrayright)^Rb={displaymath}/; $cached_env_img{$key} = ' displaymath439 '; $key = q/{displaymath}x_E^Rb{displaymath}/; $cached_env_img{$key} = ' displaymath438 '; $key = q/{displaymath}R=left(arrayccccos(q4);SPMamp;-sin(q4)*cos(q5);SPMamp;-sin(q4)*sin(q5)sin(q4);SPMamp;cos(q4)*cos(q5);SPMamp;cos(q4)*sin(q5)0;SPMamp;-sin(q5);SPMamp;cos(q5)arrayright){displaymath}/; $cached_env_img{$key} = ' displaymath457 '; 1; pub/Portique/WebHome/portique/portique.css010066400000000141665000000005300766342047600211020ustar00rootsed00002100000007 SMALL.TINY { font-size : xx-small } SMALL.SCRIPTSIZE { font-size : xx-small } SMALL.FOOTNOTESIZE { font-size : x-small } SMALL.SMALL { font-size : small } BIG.LARGE { font-size : large } BIG.XLARGE { font-size : x-large } BIG.XXLARGE { font-size : xx-large } BIG.HUGE { font-size : xx-large } BIG.XHUGE { font-size : xx-large } pub/Portique/WebHome/portique/node14.html010066400000000141665000000026430766342047600205070ustar00rootsed00002100000007 Modle cinmatique next up previous
        Next: Modle cinmatique inverse en Up: Contrle d'un repre camra Previous: Modle gometrique inverse

        Modle cinmatique

        Non explicite dans ce document.


        Herve Mathieu
        Tue Jul 21 15:09:01 MDT 1998
        pub/Portique/WebHome/portique/node8.html010066400000000141665000000043170766342047600204320ustar00rootsed00002100000007 Modles cinmatique direct et inverse en RTL next up previous
        Next: Modles cinmatique direct et Up: Contrle du repre effecteur Previous: Modles gometrique direct et

        Modles cinmatique direct et inverse en RTL

        Soit R la matrice de rotation extraite de la matrice de transfert.

        displaymath457

        Le modle cinmatique direct est exprim par :

        displaymath458

        d'o la condition :

        displaymath459

        qui exprime l'absence d'un degr de libert.

        Le modle cinmatique inverse est exprim par :

        displaymath460

        d'o la condition :

        displaymath461

        qui exprime l'absence d'un degr de libert.


        Herve Mathieu
        Tue Jul 21 15:09:01 MDT 1998
        pub/Portique/WebHome/portique/node9.html010066400000000141665000000045410766342047600204320ustar00rootsed00002100000007 Modles cinmatique direct et inverse en Omega next up previous
        Next: Contrle d'un repre camra Up: Contrle du repre effecteur Previous: Modles cinmatique direct et

        Modles cinmatique direct et inverse en Omega

        Par rapport au paragraphe prcdent, seul le paramtrage change.

        Soit la matrice de passage des paramtres RTL () en paramtres (), elle s'exprime dans notre cas par :

        displaymath467

        Soit la matrice de passage des paramtres () en paramtres RTL (), elle s'exprime dans notre cas par :

        displaymath468

        Le modle cinmatique direct est exprim par :

        displaymath469

        Le modle cinmatique inverse est exprim par :

        displaymath470

        d'o la condition :

        displaymath471

        qui exprime l'absence d'un degr de libert.


        Herve Mathieu
        Tue Jul 21 15:09:01 MDT 1998
        pub/Portique/WebHome/portique/node10.html010066400000000141665000000041620766342047600205010ustar00rootsed00002100000007 Contrle d'un repre camra next up previous
        Next: Matrice de Transfert Up: Modles Geomtriques et Cinmatiques Previous: Modles cinmatique direct et

        Contrle d'un repre camra

        Le repre camra est suppos se dduire du repre effecteur de manire static et connu. La plupart des formules suivantes sont dduites des formules exprimes dans le repre effecteur.



        Herve Mathieu
        Tue Jul 21 15:09:01 MDT 1998
        pub/Portique/WebHome/portique/node11.html010066400000000141665000000032320766342047600204770ustar00rootsed00002100000007 Matrice de Transfert next up previous
        Next: Modle gometrique direct Up: Contrle d'un repre camra Previous: Contrle d'un repre camra

        Matrice de Transfert

        La matrice de passage du repre Rc li une camra et Re de l'effecteur s'exprime par :

        displaymath489

        soit

        displaymath490


        Herve Mathieu
        Tue Jul 21 15:09:01 MDT 1998
        ity of Leeds --> Matrice de Transfert Modle gometrique direct next up previous
        Next: Modle gometrique inverse Up: Contrle d'un repre camra Previous: Matrice de Transfert

        Modle gometrique direct

        On dduit de la matrice de transfert, pour la partie translation :

        displaymath493

        et pour la partie rotation (avec RRc = R * Rc) :

        displaymath494


        Herve Mathieu
        Tue Jul 21 15:09:01 MDT 1998
        pub/Portique/WebHome/portique/node13.html010066400000000141665000000033070766342047600205040ustar00rootsed00002100000007 Modle gometrique inverse next up previous
        Next: Modle cinmatique Up: Contrle d'un repre camra Previous: Modle gometrique direct

        Modle gometrique inverse

        Pour la rotation :

        displaymath497

        Pour la translation :

        displaymath498

        On peut calculer (q1,q2,q3) pertir de R car R ne dpend que de q4 et q5.


        Herve Mathieu
        Tue Jul 21 15:09:01 MDT 1998
        pub/Portique/WebHome/portique/images.tex010066400000000141665000000204070766342047600205140ustar00rootsed00002100000007\batchmode \documentstyle[12pt,epsf]{article} \makeatletter \pagestyle{empty} \topmargin -3.0cm \oddsidemargin -0.5cm \evensidemargin -0.5cm \textheight 27.0cm \textwidth 17.0cm \parindent 0pt \makeatother \newenvironment{tex2html_wrap}{}{} \newwrite\lthtmlwrite \def\lthtmltypeout#1{{\let\protect\string\immediate\write\lthtmlwrite{#1}}}% \newbox\sizebox \begin{document} \pagestyle{empty} \stepcounter{section} \stepcounter{section} {\newpage \clearpage \samepage \begin{figure}[htbp] \centerline{\epsfxsize=12.5cm \epsfysize=12.5cm \epsffile{meca.eps}} \label{fig:plan_mecanique} \end{figure} } \stepcounter{section} \stepcounter{subsection} {\newpage \clearpage \samepage \begin{figure}[htbp] \centerline{\epsfxsize=12.5cm \epsfysize=12.5cm \epsffile{geometrie.eps}} \label{fig:geometrie} \end{figure} } {\newpage \clearpage \samepage \begin{displaymath}\dot{q1}, \dot{q2}, \dot{q3}, \dot{q4},\dot{q5}\end{displaymath} } {\newpage \clearpage \samepage \begin{displaymath}x_{E}^{Rb}\end{displaymath} } {\newpage \clearpage \samepage \begin{displaymath}\left( \begin{array}{c} X\\ Y\\ Z\\ 1 \end{array} \right)^{Rb} = \end{displaymath} } {\newpage \clearpage \samepage \begin{displaymath}\phi, \theta, \psi\end{displaymath} } {\newpage \clearpage \samepage \begin{displaymath}\dot{x}, \dot{y}, \dot{z} \end{displaymath} } {\newpage \clearpage \samepage \begin{displaymath}\dot{\phi}, \dot{\theta}, \dot{\psi}\end{displaymath} } {\newpage \clearpage \samepage \begin{displaymath}\omega_{x},\omega_{y},\omega_{z}\end{displaymath} } {\newpage \clearpage \samepage \begin{displaymath}R^{t}\end{displaymath} } \stepcounter{subsection} \stepcounter{subsubsection} {\newpage \clearpage \samepage \begin{displaymath}\left( \begin{array}{c} X\\ Y\\ Z\\ 1 \end{array} \right)^{Rb} = \left(\begin{array}{cccc} cos(q4) & -sin(q4) * cos(q5) & -sin(q4) * sin(q5) & q1\\ sin(q4) & cos(q4) * cos(q5) & cos(q4) * sin(q5) & q2\\ 0 & -sin(q5) & cos(q5) & q3\\ 0 & 0 & 0 & 1 \end{array}\right) * \left(\begin{array}{c} X\\ Y\\ Z\\ 1 \end{array}\right)^{Re} = \left(\begin{array}{cc} R & T\\ 0 0 0 & 1 \end{array}\right) * \left(\begin{array}{c} X\\ Y\\ Z\\ 1 \end{array}\right)^{Re} \end{displaymath} } \stepcounter{subsubsection} {\newpage \clearpage \samepage \begin{displaymath}\begin{array}{c} q1 = x_{E}^{Rb}\\ q2 = y_{E}^{Rb}\\ q3 = z_{E}^{Rb}\\ q4 = \phi_{E}^{Rb}\\ q5 = \psi_{E}^{Rb} \end{array} \end{displaymath} } \stepcounter{subsubsection} {\newpage \clearpage \samepage \begin{displaymath}R = \left(\begin{array}{ccc} cos(q4) & -sin(q4) * cos(q5) & -sin(q4) * sin(q5)\\ sin(q4) & cos(q4) * cos(q5) & cos(q4) * sin(q5)\\ 0 & -sin(q5) & cos(q5) \end{array}\right) \end{displaymath} } {\newpage \clearpage \samepage \begin{displaymath}\left( \begin{array}{c} \dot{x} \\ \dot{y} \\ \dot{z} \\ \dot{\phi} \\ \dot{\theta} \\ \dot{\psi} \end{array} \right)^{Re} = \left(\begin{array}{cc} R^{t} & 0\\ 0 & R^{t} \end{array}\right) * \left(\begin{array}{c} \dot{q1} \\ \dot{q2} \\ \dot{q3} \\ \dot{q4} \\ 0 \\ \dot{q5} \end{array}\right) \end{displaymath} } {\newpage \clearpage \samepage \begin{displaymath}\dot{\theta} = sin(q4) * cos(q5) * \dot{q4} - sin(q5) * \dot{q5}\end{displaymath} } {\newpage \clearpage \samepage \begin{displaymath}\left( \begin{array}{c} \dot{q1} \\ \dot{q2} \\ \dot{q3} \\ \dot{q4} \\ 0 \\ \dot{q5} \end{array} \right)^{Re} = \left(\begin{array}{cc} R & 0\\ 0 & R \end{array}\right) * \left(\begin{array}{c} \dot{x} \\ \dot{y} \\ \dot{z} \\ \dot{\phi} \\ \dot{\theta} \\ \dot{\psi} \end{array}\right) \end{displaymath} } {\newpage \clearpage \samepage \begin{displaymath}0 = - sin(q4) * \dot{\phi} + cos(q4) * cos(q5) * \dot{theta} + cos(q4) * sin(q5) * \dot{psi}\end{displaymath} } \stepcounter{subsubsection} {\newpage \clearpage \samepage \setbox\sizebox=\hbox{$M_{RTL->\Omega}$}\lthtmltypeout{latex2htmlSize :tex2html_wrap_inline477: \the\ht\sizebox::\the\dp\sizebox.}\box\sizebox } {\newpage \clearpage \samepage \setbox\sizebox=\hbox{$\dot{\phi},\dot{\theta},\dot{\psi}$}\lthtmltypeout{latex2htmlSize :tex2html_wrap_inline479: \the\ht\sizebox::\the\dp\sizebox.}\box\sizebox } {\newpage \clearpage \samepage \setbox\sizebox=\hbox{$\omega_{x},\omega_{y},\omega_{z}$}\lthtmltypeout{latex2htmlSize :tex2html_wrap_inline481: \the\ht\sizebox::\the\dp\sizebox.}\box\sizebox } {\newpage \clearpage \samepage \begin{displaymath}M_{RTL->\Omega} = \left(\begin{array}{ccc} 0 & 0 & cos(q4)\\ 0 & 0 & sin(q4)\\ 1 & 0 & 0 \end{array}\right) \end{displaymath} } {\newpage \clearpage \samepage \setbox\sizebox=\hbox{$M_{\Omega->RTL}$}\lthtmltypeout{latex2htmlSize :tex2html_wrap_inline483: \the\ht\sizebox::\the\dp\sizebox.}\box\sizebox } {\newpage \clearpage \samepage \begin{displaymath}M_{\Omega->RTL} = \left(\begin{array}{ccc} 0 & 0 & 1\\ - sin(q4) & cos(q4) & 0\\ cos(q4) & sin(q4) & 0\\ 1 & 0 & 0 \end{array}\right) \end{displaymath} } {\newpage \clearpage \samepage \begin{displaymath}\left( \begin{array}{c} \dot{x} \\ \dot{y} \\ \dot{z} \\ \omega_{x} \\ \omega_{y} \\ \omega_{z} \end{array} \right)^{Re} = \left(\begin{array}{cc} R^{t} & 0\\ 0 & R^{t} * M_{RTL->\Omega} \end{array}\right) * \left(\begin{array}{c} \dot{q1} \\ \dot{q2} \\ \dot{q3} \\ \dot{q4} \\ 0 \\ \dot{q5} \end{array}\right) \end{displaymath} } {\newpage \clearpage \samepage \begin{displaymath}\left( \begin{array}{c} \dot{q1} \\ \dot{q2} \\ \dot{q3} \\ \dot{q4} \\ 0 \\ \dot{q5} \end{array} \right) = \left(\begin{array}{cc} R & 0\\ 0 & M_{\Omega->RTL} * R \end{array}\right) * \left(\begin{array}{c} \dot{x} \\ \dot{y} \\ \dot{z} \\ \omega_{x} \\ \omega_{y} \\ \omega_{z} \end{array}\right)^{Re} \end{displaymath} } {\newpage \clearpage \samepage \begin{displaymath}0 = - 2 * sin(q4) * cos(q4) * \omega_{x} + cos(q5) * (cos^{2}(q4) - sin^{2}(q4)) * \omega_{y} + sin(q5) * (cos^{2}(q4) - sin^{2}(q4)) cos(q4) * sin(q5) * \omega_{z}\end{displaymath} } \stepcounter{subsection} \stepcounter{subsubsection} {\newpage \clearpage \samepage \begin{displaymath}\left( \begin{array}{c} X\\ Y\\ Z\\ 1 \end{array} \right)^{Re} = \left(\begin{array}{cccc} sx & nx & ax & cx\\ sy & ny & ay & cy\\ sz & nz & az & cz\\ 0 & 0 & 0 & 1 \end{array}\right) * \left(\begin{array}{c} X\\ Y\\ Z\\ 1 \end{array}\right)^{Rc} = \left(\begin{array}{cc} Rc & Tc\\ 0 0 0 & 1 \end{array}\right) * \left(\begin{array}{c} X\\ Y\\ Z\\ 1 \end{array}\right)^{Rc} \end{displaymath} } {\newpage \clearpage \samepage \begin{displaymath}\left( \begin{array}{c} X\\ Y\\ Z\\ 1 \end{array} \right)^{Rb} = = \left(\begin{array}{cc} R * Rc & R * Tc + T\\ 0 0 0 & 1 \end{array}\right) * \left(\begin{array}{c} X\\ Y\\ Z\\ 1 \end{array}\right)^{Rc} \end{displaymath} } \stepcounter{subsubsection} {\newpage \clearpage \samepage \begin{displaymath}\left(\begin{array}{c} x_{c}\\ y_{c}\\ z_{c} \end{array}\right)^{Rb} = R * Tc + T \end{displaymath} } {\newpage \clearpage \samepage \begin{displaymath}\begin{array}{c} \phi = atan2(RRc(1,0) , RRc(0,0))\\ \theta = atan2(RRc(2,0) , cos(\phi) * RRc(0,0) + sin(\phi) * RRc(1,0))\\ \psi = atan2(sin(\phi) * RRc(0,2) - cos(\phi) * RRc(1,2), - sin(\phi) * RRc(0,1) + cos(\phi) * RRc(1,1)) \end{array} \end{displaymath} } \stepcounter{subsubsection} {\newpage \clearpage \samepage \begin{displaymath}\left(\begin{array}{c} q4\\ 0\\ q5 \end{array}\right) = Rc * \left(\begin{array}{c} \phi \\ \theta\\ \psi \end{array}\right) \end{displaymath} } {\newpage \clearpage \samepage \begin{displaymath}\left(\begin{array}{c} q1\\ q2\\ q3 \end{array}\right) = \left(\begin{array}{c} x_{c} \\ y_{c} \\ z_{c} \end{array}\right)^{Rb} - R * Tc \end{displaymath} } \stepcounter{subsubsection} \stepcounter{subsubsection} {\newpage \clearpage \samepage \begin{displaymath}\left( \begin{array}{c} \dot{q1} \\ \dot{q2} \\ \dot{q3} \end{array} \right) = RRc * \left( \left(\begin{array}{c} \dot{x} \\ \dot{y} \\ \dot{z} \end{array}\right)^{Rc} + \left( \begin{array}{c} \omega_{x} \\ \omega_{y} \\ \omega_{z} \end{array} \right)^{Rc} \wedge (Rc^{t} * Tc) \right) \end{displaymath} } {\newpage \clearpage \samepage \begin{displaymath}\left( \begin{array}{c} \dot{q4} \\ 0 \\ \dot{q5} \end{array} \right) = M_{\Omega->RTL} * R * Rc * \left(\begin{array}{c} \omega_{x} \\ \omega_{y} \\ \omega_{z} \end{array}\right)^{Rc} \end{displaymath} } \stepcounter{section} \stepcounter{section} \end{document} pub/Portique/WebHome/portique/node15.html010066400000000141665000000031640766342047600205070ustar00rootsed00002100000007 Modle cinmatique inverse en Omega next up previous
        Next: Description Software Up: Contrle d'un repre camra Previous: Modle cinmatique

        Modle cinmatique inverse en Omega

        On a la relation vectoriel :

        displaymath501

        displaymath502


        Herve Mathieu
        Tue Jul 21 15:09:01 MDT 1998
        pub/Portique/WebHome/portique/node16.html010066400000000141665000000114340766342047600205070ustar00rootsed00002100000007 Description Software next up previous
        Next: About this document Up: Le Portique - description Previous: Modle cinmatique inverse en

        Description Software

        Un driver de base t ecrit pour piloter le robot portique, il comprend les fonctions : 

        extern int portiqueOpen(int option);
extern int portiqueClose();
extern int portiqueOpenServoing(int mode);
extern int portiqueCloseServoing();
extern int portiqueReadPos(double axis[PTQ_MAXART]);
extern int portiqueWritePos(double pos[PTQ_MAXART], double
                            vel[PTQ_MAXART],double acc[PTQ_MAXART]); 
extern int portiqueWriteRelPos(double pos[PTQ_MAXART], double
                               vel[PTQ_MAXART],double acc[PTQ_MAXART]); 
extern int portiqueWriteVel(double vel[PTQ_MAXART]);
extern int portiqueEndMove();
extern int portiqueWaitEndMove();
extern int portiqueStop();
extern int portiqueQuickStop();
extern int portiqueCheck(int ErrorType[PTQ_MAXART]);
extern int portiqueInitAxis();
extern int portiqueSoftError(int mode );

        Se rferrer au fichiers 

        {ROBOTIQUE}/include/portique.h
        pour plus d'informations.

        Ces fonctions sont utilisables que sur la carte VxWorks, elles sont utilises par ORCCAD et par la librairie robctl (voir ci-aprs) et sont plutt orient asservissement visuel et systme ractif.

        Pour des taches de dplacement en position, une librairie (robctl) t crite, elle peut tre utilise sur la carte VxWorks ou sur une station de travail. Elle permet de plus d'oprer sur plusieurs robots (RX90, PENDULE) simultanment. Elle utilise les sockets. Le fichier 

        {ROBOTIQUE}/include/Rrobctl.h
        donne la liste des fonctions.

        Enfin une librairie de fonctions permet de piloter le robot travers le modle gomtrique ou cinmatique. 

        /* modele geometrique direct du centre de rotation en RTL,
   lit les qi si q == NULL,
   resultat dans ef,
   retourne ef */
extern double *portiqueEffGeoRTL(double q[5], double ef[6])
/* modele geometrique inverse du centre de rotation en RTL,
   resultat dans q,
   retourne q */
extern double *portiqueEffGeoInvRTL(double ef[6], double q[5])
/* modele jacobien du centre de rotation en RTL,
   resultat dans ef,
   retourne ef */
extern double *portiqueEffJacRTL(double qp[5], double q[5], double ef[6])
/* modele jacobien inverse du centre de rotation en RTL,
   resultat dans qp,
   retourne qp */
extern double *portiqueEffJacInvRTL(double ef[6], double q[5], double qp[5])
/* modele jacobien du centre de rotation en (Wx,Wy,Wz),
   resultat dans ef,
   retourne ef */
extern double *portiqueEffJac(double qp[5], double q[5], double ef[6])
/* modele jacobien inverse du centre de rotation en (Wx,Wy,Wz),
   resultat dans qp,
   retourne qp */
extern double *portiqueEffJacInv(double ef[6], double q[5], double qp[5])

/* modele geometrique d'une camera en RTL,
   resultat dans ef,
   retourne ef */
extern double *portiqueCamGeoRTL(int camera, double q[5], double ef[6])
/* modele geometrique inverse d'une camera en RTL,
   resultat dans q,
   retourne q */
extern double *portiqueCamGeoInvRTL(int camera, double ef[6], double q[5])
/* modele jacobien d'une camera en (Wx,Wy,Wz),
   resultat dans ef,
   retourne ef */
extern double *portiqueCamJac(int camera, double qp[5], double q[5], double ef[6])
/* modele jacobien inverse d'une camera en (Wx,Wy,Wz),
   resultat dans qp,
   retourne qp */
extern double *portiqueCamJacInv(int camera, double ef[6], double q[5], double qp[5])
/* permet d'entrer un nouveau model de camera
   retourne OK ou ERRRO */
int portiqueCamera(int camera, double *camrot, double *camtrans)


        Herve Mathieu
        Tue Jul 21 15:09:01 MDT 1998
        ks, elles sont utilises par ORCCAD et par la librairie robctl (voir ci-aprs) et sont plutt orient asservissement visuel et systme ractif.

        Pour des taches de dplacement en position, une librairie (robctl) t crite,pub/Portique/WebHome/portique/node17.html010066400000000141665000000035400766342047600205070ustar00rootsed00002100000007 About this document ... next up previous
        Up: Le Portique - description Previous: Description Software

        About this document ...

        Le Portique - description hardware et software

        This document was generated using the LaTeX2HTML translator Version 96.1 (Feb 5, 1996) Copyright © 1993, 1994, 1995, 1996, Nikos Drakos, Computer Based Learning Unit, University of Leeds.

        The command line arguments were:
        latex2html portique.

        The translation was initiated by Herve Mathieu on Tue Jul 21 15:09:01 MDT 1998

        Herve Mathieu
        Tue Jul 21 15:09:01 MDT 1998
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        ...SINTERS
        Ms Caron et Urbain SINTERS BP1311 31106 TOULOUSE cedex 1 
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        Herve Mathieu
        Tue Jul 21 15:09:01 MDT 1998
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