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Avnish mini project #55

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Avnish mini project #55

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{
"cells": [
{
"cell_type": "markdown",
"metadata": {},
"source": [
"3. Postion vector for end effector SCARA."
]
},
{
"cell_type": "code",
"execution_count": 6,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"Position :[10. 0. -3. 1.]\n",
"Jacobian :([[0.0, 10.0, 0.0], [0.0, 5.0, 0.0], [0, 0, 1]], [[0, 0, 1], [0, 0, 1], [0, 0, 1]])\n"
]
}
],
"source": [
"import numpy as np\n",
"from numpy import pi, sin, cos, sqrt, absolute, arccos, arctan, sign\n",
"import matplotlib.pyplot as plt\n",
"a1,a2 = 5,5\n",
"q = input(\"Enter the joint angles in degrees q1,q2 :\")\n",
"d = float(input(\"Enter extension of end-effector :\"))\n",
"ang1,ang2 = float(q.split(\",\")[0]) , float(q.split(\",\")[1])\n",
"q1,q2 = ang1*3.14/180, ang2*3.14/180\n",
"end_pos = [0,0,0,1]\n",
"theta,alpha,dis,a = 0,0,0,0\n",
"dh = [[cos(theta), -sin(theta)*cos(alpha), sin(theta)*sin(alpha), cos(theta)*a],\n",
"[sin(theta), cos(theta)*cos(alpha), -cos(theta)*sin(alpha), sin(theta)*a],\n",
"[0, sin(alpha), cos(alpha),d],\n",
"[0,0,0,1]]\n",
"t = [[cos(q1+q2),sin(q1+q2),0,a1*cos(q1)+a2*cos(q1+q2)],\n",
"[sin(q1+q2),-cos(q1+q2),0,a1*sin(q1)+a2*sin(q1+q2)],\n",
"[0,0,-1,-d],\n",
"[0,0,0,1]]\n",
"res = np.dot(t,end_pos)\n",
"print(\"Position :\" +str(res) )\n",
"z0,z1,z2 =np.array([0,0,1]),np.array([0,0,1]),np.array([0,0,1])\n",
"o,o1,o2,o3 = np.array([0,0,0]),np.array([a1*cos(q1),a1*sin(q1),0]),np.array([a1*cos(q1)+a2*cos(q1+q2),a1*sin(q1)+ a2*sin(q1+q2),0]),np.array([a1*cos(q1)+a2*cos(q1+q2),a1*sin(q1)+ a2*sin(q1+q2),d])\n",
"jacob = [np.transpose(np.cross(z0,o3-o)).tolist(),np.transpose(np.cross(z1,o3-o1)).tolist(),np.transpose(z2).tolist()],[np.transpose(z0).tolist(),np.transpose(z1).tolist(),np.transpose(z2).tolist()]\n",
"print(\"Jacobian :\"+ str(jacob))"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"4. Postion vector for end effector Standford."
]
},
{
"cell_type": "code",
"execution_count": 7,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"[0. 0. 0.]\n",
"[0. 0. 0.]\n",
"[0.00000000e+00 2.82887083e-20 3.00000000e+00]\n",
"[0.00000000e+00 2.82887083e-20 3.00000000e+00 1.00000000e+00]\n"
]
}
],
"source": [
"import numpy as np\n",
"from numpy import pi, sin, cos, sqrt, absolute, arccos, arctan, sign\n",
"import matplotlib.pyplot as plt\n",
"a1,a2 = 5,5\n",
"q = input(\"Enter the joint angles in degrees q1,q2 :\")\n",
"d = float(input(\"Enter extension of end-effector :\"))\n",
"ang1,ang2 = float(q.split(\",\")[0]) , float(q.split(\",\")[1])\n",
"q1,q2 = ang1*3.14/180, ang2*3.14/180\n",
"end_pos = [0,0,0,1]\n",
"#theta,alpha,dis,a = 0,0,0,0\n",
"def get_dh(theta,alpha,d,a):\n",
" dh = [[cos(theta), -sin(theta)*cos(alpha), sin(theta)*sin(alpha), cos(theta)*a],\n",
" [sin(theta), cos(theta)*cos(alpha), -cos(theta)*sin(alpha), sin(theta)*a],\n",
" [0, sin(alpha), cos(alpha),d],\n",
" [0,0,0,1]]\n",
" return dh\n",
"qs = [q1,q2,0]\n",
"ds = [0,0,d]\n",
"aas = [0,0,0]\n",
"alphas = [-3.14/2,3.14/2,0]\n",
"t = [[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]]\n",
"z0,z1,z2 =np.array([0,0,1]),np.array([0,0,1]),np.array([0,0,1])\n",
"o = [[],[],[]]\n",
"#t = get_dh(qs[0],alphas[0],ds[0],aas[0])\n",
"#print(t)\n",
"for i in range(0,3):\n",
" #t2 = get_dh(qs[i],alphas[i],ds[i],aas[i])\n",
" t = np.dot(t,get_dh(qs[i],alphas[i],ds[i],aas[i]))\n",
" o[i] = np.dot(t,[0,0,0,1])[0:3]\n",
" #print(o[i])\n",
" #print(t)\n",
"res = np.dot(t,end_pos)\n",
"print(res)\n",
"# print([-cos(q1)*sin(q2)*d, sin(q1)*sin(q2)*d, -cos(q2)*d,1])"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"8,10. Jacobian Matrix"
]
},
{
"cell_type": "code",
"execution_count": 11,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"Jacob :([[-11.156448908138957, 9.335387362109374, 0.0], [-8.657598394923445, 5.004596890082059, 0.0], [-4.328799197461723, 2.5022984450410295, 0.0]], [[0, 0, 1], [0, 0, 1], [0, 0, 1]])\n"
]
}
],
"source": [
"import numpy as np\n",
"from numpy import pi, sin, cos, sqrt, absolute, arccos, arctan, sign\n",
"\n",
"a1,a2,a3 = 5,5,5\n",
"q = input(\"Enter the joint angles in degrees q1,q2,q3 :\")\n",
"\n",
"ang1,ang2,ang3 = float(q.split(\",\")[0]) , float(q.split(\",\")[1]),float(q.split(\",\")[2])\n",
"q1,q2,q3 = ang1*3.14/180, ang2*3.14/180,ang3*3.14/180\n",
"end_pos = [0,0,0,1]\n",
"#theta,alpha,dis,a = 0,0,0,0\n",
"def get_dh(theta,alpha,d,a):\n",
" dh = [[cos(theta), -sin(theta)*cos(alpha), sin(theta)*sin(alpha), cos(theta)*a],\n",
" [sin(theta), cos(theta)*cos(alpha), -cos(theta)*sin(alpha), sin(theta)*a],\n",
" [0, sin(alpha), cos(alpha),d],\n",
" [0,0,0,1]]\n",
" return dh\n",
"qs = [q1,q2,q3]\n",
"ds = [0,0,0]\n",
"aas = [a1,a2,a3]\n",
"alphas = [0,0,0]\n",
"t = [[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]]\n",
"z0,z1,z2 =np.array([0,0,1]),np.array([0,0,1]),np.array([0,0,1])\n",
"o = [[],[],[]]\n",
"o0 = [0,0,0]\n",
"for i in range(0,3):\n",
" t = np.dot(t,get_dh(qs[i],alphas[i],ds[i],aas[i]))\n",
" o[i] = np.dot(t,[0,0,0,1])[0:3]\n",
"jacob = [np.transpose(np.cross(z0,o[2]-o0)).tolist(),np.transpose(np.cross(z1,o[2]-o[0])).tolist(),np.transpose(np.cross(z1,o[2]-o[1])).tolist()],[np.transpose(z0).tolist(),np.transpose(z1).tolist(),np.transpose(z2).tolist()]\n",
"print(\"Jacob :\" + str(jacob))"
]
}
],
"metadata": {
"kernelspec": {
"display_name": "Python 3.8.2 64-bit",
"language": "python",
"name": "python3"
},
"language_info": {
"codemirror_mode": {
"name": "ipython",
"version": 3
},
"file_extension": ".py",
"mimetype": "text/x-python",
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.8.2"
},
"orig_nbformat": 4,
"vscode": {
"interpreter": {
"hash": "570feb405e2e27c949193ac68f46852414290d515b0ba6e5d90d076ed2284471"
}
}
},
"nbformat": 4,
"nbformat_minor": 2
}
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