#!/usr/bin/env python
import numpy as np
from roboticstoolbox.robot.ET import ET
from roboticstoolbox.robot.ETS import ETS
from roboticstoolbox.robot.Robot import Robot
from roboticstoolbox.robot.Link import Link
[docs]class Frankie(Robot):
"""
A class representing the Franka Emika Panda robot arm. ETS taken from [1]
based on https://frankaemika.github.io/docs/control_parameters.html
:param et_list: List of elementary transforms which represent the robot
kinematics
:type et_list: list of etb.robot.et
:param q_idx: List of indexes within the ets_list which correspond to
joints
:type q_idx: list of int
:param name: Name of the robot
:type name: str, optional
:param manufacturer: Manufacturer of the robot
:type manufacturer: str, optional
:param base: Location of the base is the world frame
:type base: float np.ndarray(4,4), optional
:param tool: Offset of the flange of the robot to the end-effector
:type tool: float np.ndarray(4,4), optional
:param qz: The zero joint angle configuration of the robot
:type qz: float np.ndarray(7,)
:param qr: The ready state joint angle configuration of the robot
:type qr: float np.ndarray(7,)
References: [1] Kinematic Derivatives using the Elementary Transform
Sequence, J. Haviland and P. Corke
"""
def __init__(self):
deg = np.pi / 180
mm = 1e-3
tool_offset = (103) * mm
b0 = Link(ETS(ET.Rz()), name="base0", parent=None)
b1 = Link(ETS(ET.tx()), name="base1", parent=b0)
l0 = Link(ET.tz(0.333) * ET.Rz(), name="link0", parent=b1)
l1 = Link(ET.Rx(-90 * deg) * ET.Rz(), name="link1", parent=l0)
l2 = Link(ET.Rx(90 * deg) * ET.tz(0.316) * ET.Rz(), name="link2", parent=l1)
l3 = Link(ET.tx(0.0825) * ET.Rx(90 * deg) * ET.Rz(), name="link3", parent=l2)
l4 = Link(
ET.tx(-0.0825) * ET.Rx(-90 * deg) * ET.tz(0.384) * ET.Rz(),
name="link4",
parent=l3,
)
l5 = Link(ET.Rx(90 * deg) * ET.Rz(), name="link5", parent=l4)
l6 = Link(
ET.tx(0.088) * ET.Rx(90 * deg) * ET.tz(0.107) * ET.Rz(),
name="link6",
parent=l5,
)
ee = Link(ET.tz(tool_offset) * ET.Rz(-np.pi / 4), name="ee", parent=l6)
elinks = [b0, b1, l0, l1, l2, l3, l4, l5, l6, ee]
super(Frankie, self).__init__(
elinks,
name="Frankie",
manufacturer="Franka Emika, Omron",
keywords=("mobile",),
)
self.qr = np.array([0, 0, 0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
self.qz = np.zeros(9)
self.addconfiguration("qr", self.qr)
self.addconfiguration("qz", self.qz)
if __name__ == "__main__": # pragma nocover
robot = Frankie()
print(robot)