有多少人工，就有多少智能

随笔分类 - Franka

Franka Robot demo 笛卡尔位姿运动生成器实例(generate_cartesian_pose_motion.cpp)

摘要：// Copyright (c) 2023 Franka Robotics GmbH // Use of this source code is governed by the Apache-2.0 license, see LICENSE #include <cmath> #include <io 阅读全文

posted @ 2024-07-11 20:27 lvdongjie-avatarx 阅读(28) 评论(0) 推荐(0) 编辑

Franka Robot demo 外部控制循环生成笛卡尔位姿运动(generate_cartesian_pose_motion_external_control_loop.cpp)

摘要：// Copyright (c) 2023 Franka Robotics GmbH // Use of this source code is governed by the Apache-2.0 license, see LICENSE #include <cmath> #include <io 阅读全文

posted @ 2024-07-11 20:24 lvdongjie-avatarx 阅读(28) 评论(0) 推荐(0) 编辑

Franka Robot demo 外部控制循环下的笛卡尔速度运动(generate_cartesian_velocity_motion_external_control_loop.cpp)

摘要：// Copyright (c) 2023 Franka Robotics GmbH // Use of this source code is governed by the Apache-2.0 license, see LICENSE #include <cmath> #include <io 阅读全文

posted @ 2024-07-11 20:14 lvdongjie-avatarx 阅读(47) 评论(0) 推荐(0) 编辑

Franka Robot Demo 笛卡尔速度运动(generate_cartesian_velocity_motion.cpp)

摘要：// Copyright (c) 2023 Franka Robotics GmbH // Use of this source code is governed by the Apache-2.0 license, see LICENSE #include <cmath> #include <io 阅读全文

posted @ 2024-07-11 20:04 lvdongjie-avatarx 阅读(18) 评论(0) 推荐(0) 编辑

Franka Robot demo 关节速度生成器连续运动结合错误恢复(generate_consecutive_motions.cpp)

摘要：// Copyright (c) 2023 Franka Robotics GmbH // Use of this source code is governed by the Apache-2.0 license, see LICENSE #include <cmath> #include <io 阅读全文

posted @ 2024-07-11 17:53 lvdongjie-avatarx 阅读(14) 评论(0) 推荐(0) 编辑

Franka Robot demo 笛卡尔位姿生成器-肘部运动(generate_elbow_motion.cpp)

摘要：// Copyright (c) 2023 Franka Robotics GmbH // Use of this source code is governed by the Apache-2.0 license, see LICENSE #include <cmath> #include <io 阅读全文

posted @ 2024-07-11 17:45 lvdongjie-avatarx 阅读(11) 评论(0) 推荐(0) 编辑

Franka Robot demo 当前关节位置平滑地移动到目标关节位置

摘要：// 为了从当前关节位置平滑地移动到目标关节位置，我们可以使用Franka Emika提供的运动生成器（MotionGenerator）来实现。// 以下是一个简单的示例代码，展示了如何从当前关节位置移动到目标关节位置：// 版权所有 (c) 2023 Franka Robotics GmbH // 阅读全文

posted @ 2024-07-11 17:27 lvdongjie-avatarx 阅读(14) 评论(0) 推荐(0) 编辑

Franka Robot demo 关节位置运动demo(generate_joint_position_motion.cpp)

摘要：// Copyright (c) 2023 Franka Robotics GmbH // Use of this source code is governed by the Apache-2.0 license, see LICENSE #include <cmath> #include <io 阅读全文

posted @ 2024-07-11 17:24 lvdongjie-avatarx 阅读(20) 评论(0) 推荐(0) 编辑

Franka Robot demo 外部控制循环结合关节位置生成运动(generate_joint_position_motion_external_control_loop.cpp)

摘要：// Copyright (c) 2023 Franka Robotics GmbH // Use of this source code is governed by the Apache-2.0 license, see LICENSE #include <cmath> #include <io 阅读全文

posted @ 2024-07-11 17:16 lvdongjie-avatarx 阅读(11) 评论(0) 推荐(0) 编辑

Franka Robot demo 外部控制循环生成关节速度运动 (generate_joint_velocity_motion_external_control_loop.cpp)

摘要：// Copyright (c) 2023 Franka Robotics GmbH // Use of this source code is governed by the Apache-2.0 license, see LICENSE #include <cmath> #include <io 阅读全文

posted @ 2024-07-11 17:05 lvdongjie-avatarx 阅读(15) 评论(0) 推荐(0) 编辑

Franka Robot demo 关节速度运动生成器控制运动 (generate_joint_velocity_motion.cpp)

摘要：// Copyright (c) 2023 Franka Robotics GmbH // Use of this source code is governed by the Apache-2.0 license, see LICENSE #include <cmath> #include <io 阅读全文

posted @ 2024-07-11 16:45 lvdongjie-avatarx 阅读(9) 评论(0) 推荐(0) 编辑

Franka Robot demo 基于加速度及速度连续曲线的关节位置运动生成器及控制demo(joint_point_to_point_motion.cpp)

摘要：// Copyright (c) 2023 Franka Robotics GmbH // Use of this source code is governed by the Apache-2.0 license, see LICENSE #include <cmath> #include <io 阅读全文

posted @ 2024-07-11 16:11 lvdongjie-avatarx 阅读(10) 评论(0) 推荐(0) 编辑

Franka Robot demo 基于插补运动的关节空间运动生成及控制

摘要：#include <array> #include <cmath> #include <iostream> #include <franka/exception.h> #include <franka/robot.h> int main(int argc, char** argv) { // 检查是阅读全文

posted @ 2024-07-11 16:06 lvdongjie-avatarx 阅读(31) 评论(0) 推荐(0) 编辑

Franka Robot demo 关节速度运动生成器和力矩控制(motion_with_control.cpp)

摘要：// Copyright (c) 2023 Franka Robotics GmbH // Use of this source code is governed by the Apache-2.0 license, see LICENSE #include <cmath> #include <fs 阅读全文

posted @ 2024-07-11 15:36 lvdongjie-avatarx 阅读(46) 评论(0) 推荐(0) 编辑

Franka Robot demo 关节阻抗控制(joint_impedance_control.cpp)

摘要：// Copyright (c) 2023 Franka Robotics GmbH // Use of this source code is governed by the Apache-2.0 license, see LICENSE #include <array> #include <at 阅读全文

posted @ 2024-07-10 21:12 lvdongjie-avatarx 阅读(58) 评论(0) 推荐(0) 编辑

Franka Robot demo 真空夹抓控制示例(vacuum_object.cpp)

摘要：// Copyright (c) 2019 Franka Robotics GmbH // Use of this source code is governed by the Apache-2.0 license, see LICENSE #include <iostream> #include 阅读全文

posted @ 2024-07-10 19:16 lvdongjie-avatarx 阅读(16) 评论(0) 推荐(0) 编辑

Franka Robot 打印机器人关节位姿(print_joint_poses.cpp)

摘要：// Copyright (c) 2023 Franka Robotics GmbH // Use of this source code is governed by the Apache-2.0 license, see LICENSE #include <iostream> #include 阅读全文

posted @ 2024-07-10 19:01 lvdongjie-avatarx 阅读(27) 评论(0) 推荐(0) 编辑

Franka Robot 夹爪控制示例(grasp_object.cpp)

摘要：// Copyright (c) 2023 Franka Robotics GmbH // Use of this source code is governed by the Apache-2.0 license, see LICENSE #include <iostream> #include 阅读全文

posted @ 2024-07-10 18:46 lvdongjie-avatarx 阅读(74) 评论(0) 推荐(0) 编辑

Franka Robot demo 力控 force_control.cpp

摘要：// Copyright (c) 2023 Franka Robotics GmbH // Use of this source code is governed by the Apache-2.0 license, see LICENSE #include <array> #include <io 阅读全文

posted @ 2024-07-10 18:05 lvdongjie-avatarx 阅读(36) 评论(0) 推荐(0) 编辑

Franka Robot 齐次变换矩阵 robot_state.O_T_EE

摘要：O_T_EE 是一个 4x4 的齐次变换矩阵,用于描述末端执行器在机器人基座坐标系下的位置和姿态。这个矩阵的结构如下: [r11 r12 r13 tx] [r21 r22 r23 ty] [r31 r32 r33 tz] [0 0 0 1 ] 其中: r11到r33表示末端执行器的旋转矩阵 tx、t 阅读全文

posted @ 2024-07-10 17:24 lvdongjie-avatarx 阅读(58) 评论(0) 推荐(0) 编辑