wafr_no_limits.world File Reference

Detailed Description

The DLR-II robot hand hoding a needle with 3 fingers.

This example is the same as wafr.world but without considering joint limits and de-coupling the joints in each finger (except for a couple of fingers that are coupled adding some extra equations). This example is basically used to generate the atlas of a complex manifold.

The key data for this problem are:

Ambient space dimension 62
Configuration space dimension 2
Execution time with bin/cuikatlas (in secons) 917

This example is treated following this steps (from the main CuikSuite folder):

  • Set the parameters: Different atlas can be obtained using different representations (vales for REPRESENTATION). In principle we prepared this example to work with REPRESENTATION = LINKS.
  • Generate the equations:
  • Add equations to reduce dimensionality: So that the dimension of the manifold is 2 and it can be easily visualized. We basically introduce couplings between the degrees of freedom of a couple of fingers. This coupling actually exists in the real hand.
    • bin/cuikmerge _reduced examples/RobotHand/wafr_no_limits examples/RobotHand/wafr_no_limits_extra
    • ln -s wafr_no_limits_extra.links examples/RobotHand/wafr_no_limits_extra_reduced.links
  • Obtain the atlas: This can take long (about 15 minutes) and generates about 117000 charts.
  • Plot the atlas
  • Visualize the (projected) atlas
    • geomview examples/RobotHand/wafr_no_limits_reduced_atlas.gcl

This example includes bifurcations. Thus by setting DETECT_BIFURCATIONS to 1 you will obtain a larger atlas (this would take long to compute, about 25 min).

The atlas without bifurcations looks like this:

Definition in file wafr_no_limits.world.