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Copy pathDefaultDhSolver.groovy
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DefaultDhSolver.groovy
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import com.neuronrobotics.bowlerstudio.physics.TransformFactory
import com.neuronrobotics.bowlerstudio.scripting.ScriptingEngine
import com.neuronrobotics.sdk.addons.kinematics.DHChain;
import com.neuronrobotics.sdk.addons.kinematics.DhInverseSolver;
import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR;
import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR;
import java.util.ArrayList;
import com.neuronrobotics.sdk.addons.kinematics.DHChain;
import com.neuronrobotics.sdk.addons.kinematics.DHLink;
import com.neuronrobotics.sdk.addons.kinematics.DhInverseSolver;
import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR;
import com.neuronrobotics.sdk.common.Log;
import Jama.Matrix;
import eu.mihosoft.vrl.v3d.CSG
import eu.mihosoft.vrl.v3d.Cube
import eu.mihosoft.vrl.v3d.Cylinder
import eu.mihosoft.vrl.v3d.Transform;
import javafx.application.Platform
import org.apache.commons.math3.geometry.euclidean.threed.Rotation;
import org.apache.commons.math3.geometry.euclidean.threed.RotationConvention
import org.apache.commons.math3.geometry.euclidean.threed.RotationOrder
import org.apache.commons.math3.geometry.euclidean.threed.Vector3D;
public class scriptJavaIKModel implements DhInverseSolver {
boolean debug = true;
CSG tipPointer =null;
CSG tipPointer2 =null;
CSG tipPointer3 =null;
int limbIndex =0;
def sixDofSolver=null;
public scriptJavaIKModel(int index){
limbIndex=index;
}
@Override
public double[] inverseKinematics(TransformNR target, double[] jointSpaceVector, DHChain chain) {
ArrayList<DHLink> links = chain.getLinks();
if(links.size()==3 || (links.size()==4 && (Math.abs(links.get(2).alpha)<0.001)))
return inverseKinematics34dof(target,jointSpaceVector,chain);
if(sixDofSolver==null)
sixDofSolver=ScriptingEngine.gitScriptRun("https://github.com/madhephaestus/6dofServoArm.git","DefaultDhSolver.groovy")
return sixDofSolver.inverseKinematics(target,jointSpaceVector,chain)
}
TransformNR linkOffset(DHLink link) {
return new TransformNR(link.DhStep(0))
}
public double[] inverseKinematics34dof(TransformNR target, double[] jointSpaceVector, DHChain chain) {
//System.out.println("My IK");
// try {
ArrayList<DHLink> links = chain.getLinks();
int linkNum = jointSpaceVector.length;
double z = target.getZ();
double y = target.getY();
double x = target.getX();
// z = Math.round(z*100.0)/100.0;
// y = Math.round(y*100.0)/100.0;
// x = Math.round(x*100.0)/100.0;
//
RotationNR q = target.getRotation();
//System.out.println("elevation: " + elev);
//System.out.println("z: " + z);
//System.out.println("y: " + y);
//System.out.println("x: " + x);
//double Oang = Math.PI/2 + q.getRotationElevation();
// double Oang = Math.toRadians(45);
//
// double Oanginv = (Math.PI/2) - Oang;
double l1_d = links.get(0).getR();
double l2_d = links.get(1).getR();
double l3_d = links.get(2).getR();
double l4_d=0;// in 3 dof, this is 0
if(links.size()>3)
l4_d = links.get(3).getR();
//System.out.println("L1: " + l1_d);
//System.out.println("L2: " + l2_d);
//System.out.println("L3: " + l3_d);
//System.out.println("L4: " + l4_d);
double[] inv = new double[linkNum];
double a1 = Math.atan2(y , x);
double a1d = Math.toDegrees(a1);
def newTip = new Transform()
.movex(x)
.movey(y)
.movez(z)
.rotz(a1d)
//println newTip
x=newTip.getX()
y=newTip.getY()
z=newTip.getZ()
//System.out.println(" Base Angle : " + a1d);
//System.out.println(" Base Orented z: " + z);
//System.out.println(" Base Orented y: " + y);
//System.out.println(" Base Orented x: " + x);
double a2 = Math.atan2(z,x); // Z angle using x axis and z axis
double a2d = Math.toDegrees(a2);
//println a2d
double elev = Math.toDegrees(q.getRotationElevation() )
//println "R Vector Angle "+a2d
// double r1 = Math.sqrt(Math.pow(x, 2) + Math.pow(y, 2)); // X and Y plane Vector
// double r2 = Math.sqrt(Math.pow(x, 2) + Math.pow(y,2)+Math.pow(z, 2)); // Leg Vector
// double r3 = Math.sqrt(Math.pow(x, 2) + Math.pow(z, 2)); // x and z vector
/*
def rvector = new Cube(r2,1,1).toCSG()
.toXMin()
.roty(a2d)
def rvectorOrig = rvector.rotz(-a1d)
.setColor(javafx.scene.paint.Color.BLUE)
BowlerStudioController.addCsg(rvector)
BowlerStudioController.addCsg(rvectorOrig)
*/
def wristCenter = new Transform()
.movex(-l4_d)
.roty(-elev)
.movey(y)
.movez(z-links.get(0).getD())
.movex(x-l1_d)
/*
def foot = new Cube(l4_d>0?l4_d:1,1,1).toCSG()
.toXMin()
.transformed(wristCenter)
.setColor(javafx.scene.paint.Color.AQUA)
BowlerStudioController.addCsg(foot)
*/
x=wristCenter.getX()
y=wristCenter.getY()
z=wristCenter.getZ()
double wristAngle = Math.atan2(z,x);
double wristAngleDeg =Math.toDegrees(wristAngle)
double wristVect = Math.sqrt(Math.pow(x, 2) + Math.pow(z, 2)); // x and z vector
if(wristVect>l2_d+l3_d)
throw new ArithmeticException("Total reach longer than possible "+inv);
//System.out.println(" Wrist Angle: " + wristAngleDeg);
//System.out.println(" Wrist Vect: " + wristVect);
//System.out.println(" Wrist z: " + z);
//System.out.println(" Wrist y: " + y);
//System.out.println(" Wrist x: " + x);
/*
def wristVector = new Cube(wristVect,1,1).toCSG()
.toXMin()
.roty(wristAngleDeg)
.setColor(javafx.scene.paint.Color.WHITE)
BowlerStudioController.addCsg(wristVector)
*/
double shoulderTiltAngle = Math.toDegrees(Math.acos(
(Math.pow(l2_d,2)+Math.pow(wristVect,2)-Math.pow(l3_d,2))/
(2*l2_d*wristVect)
))
double elbowTiltAngle = Math.toDegrees(Math.acos(
(Math.pow(l3_d,2)+Math.pow(l2_d,2)-Math.pow(wristVect,2))/
(2*l3_d*l2_d)
))
/*
def shoulderVector = new Cube(l2_d,1,1).toCSG()
.toXMin()
.roty(wristAngleDeg+shoulderTiltAngle)
.setColor(javafx.scene.paint.Color.GRAY)
BowlerStudioController.addCsg(shoulderVector)
*/
inv[0]=a1d
if(Math.toDegrees(links.get(2).getTheta())<0){
inv[1]=wristAngleDeg+shoulderTiltAngle-Math.toDegrees(links.get(1).getTheta())
inv[2]=elbowTiltAngle-180-Math.toDegrees(links.get(2).getTheta())
}else{
inv[1]=-(wristAngleDeg+shoulderTiltAngle+Math.toDegrees(links.get(1).getTheta()))
inv[2]=(180-elbowTiltAngle-Math.toDegrees(links.get(2).getTheta()))
}
if(links.size()>3)
inv[3]=-inv[1]-inv[2]-Math.toDegrees(links.get(3).getTheta())-elev-
Math.toDegrees(links.get(1).getTheta())-
Math.toDegrees(links.get(2).getTheta())
//System.out.println(inv[0]);
//System.out.println(inv[1]);
//System.out.println(inv[2]);
//System.out.println(inv[3]);
if(links.size()>3)
if(Double.isNaN(inv[0]) || Double.isNaN(inv[1]) || Double.isNaN(inv[2]) || Double.isNaN(inv[3]))
throw new ArithmeticException("Can't move to that position "+inv);
else if(Double.isNaN(inv[0]) || Double.isNaN(inv[1]) || Double.isNaN(inv[2]) )
throw new ArithmeticException("Can't move to that position "+inv);
//println "Success "+inv
return inv;
// } catch (Throwable t) {
// BowlerStudio.printStackTrace(t);
// return jointSpaceVector;
// }
}
}
if(args==null)
args=[0]
return new scriptJavaIKModel (args[0])