rh5v2_hybrid.cpp File Reference

#include <robot_models/hyrodyn/RobotModelHyrodyn.hpp>
#include <solvers/qpoases/QPOasesSolver.hpp>
#include <scenes/acceleration_tsid/AccelerationSceneTSID.hpp>
#include <tools/JointIntegrator.hpp>
#include <controllers/CartesianPosPDController.hpp>

Functions
int	main ()

Function Documentation

main()

int main

(

)

Acceleration-based example, same problem as in the rh5v2 example. The only difference is that here we use the hybrid robot model, i.e. we consider the parallel structures in the mechanical structure and solve the WBC problem in actuation space. The output is thus not an acceleration/torque vector of the independent joints, but the acceleration andforces/torques of the actual actuators. In case of the RH5v2 arms, there are two such parallel structures:

• The elbow joint is driven by a linear actuator
• The wrist structure is a parallel mechanism with two linear actuators