cuikaddjacobian.c File Reference Detailed DescriptionNote that this only works if the system representation is not DOF-based. Takes as input a cuik file resulting from cuiksingequations and adds equations to detect then rank deficiency of the Jacobian for a given set of variables. The result of this application is a system of equations that encodes a given set of singularities for the mechanism in the initial world file. In most of the cases it would be better to use cuikaddjacobian on the simplification (via cuiksimplify) of the system derived from cuiksingequations. Thus the whole process will be
which will produce a name_sing_simp_J.cuik file. The process of generating singularity equations is splitted in two parts since, in principle, equations introduced by cuiksingequations are necessary independently of the type of singularities to analyze whereas the Jacobian equations affects different sets of variables according to the singularity set to study (end effector, actuator, etc). See examples/WSSingularities for examples of how to use this application. IMPORTANT: The automatic generation of equations to detect singularities is still in development. The tools currently included in the CuikSuite (including this one) can only deal with simple cases (e.g. planar robots with 3 degrees of freedom). Thus, right now it is advisable to manually generate these equations following the instructions given in the work by O. Bohigas, M. Manubens, and L. Ros.
Definition in file cuikaddjacobian.c.
Function Documentation
Main body of the cuikaddjacobian application. Use:
where
Definition at line 102 of file cuikaddjacobian.c. References AddJacobianEquations(), CreateFileName(), CUIK_EXT, DeleteCuikSystem(), DeleteFileName(), DeleteParameters(), Error(), FALSE, GetCSNumVariables(), GetCSVariableID(), GetFileFullName(), InitCuikSystemFromFile(), InitParametersFromFile(), JOINTS_EXT, LinkFileNmeWithExtension(), LINKS_EXT, NEW, NO_UINT, PARAM_EXT, PrintCuikSystem(), and TRUE. |
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