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pseudo_inverse_place.py
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pseudo_inverse_place.py
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# this code does not consider end effector it has to be modelled seperately
#!/usr/bin/env python
from __future__ import print_function
import numpy as np
import math
from numpy.linalg import inv
import serial
import rospy
from geometry_msgs.msg import Twist
import sys, select, termios, tty
def forward(new_angle):
theta0 = new_angle.item(0)
theta1 = new_angle.item(1)
theta2 = new_angle.item(2)
l= a3*math.sin(theta1) +a4*math.sin(theta1+theta2)
x= l*math.sin(theta0)
y = l*math.cos(theta0)
z = (a3*math.cos(theta1) + a4*math.cos(theta1+theta2))
co = np.array([x,y,z])
#print("forward")
return co
def inverse(x,y,z):
error = 0
theta0 = math.atan(x/y) + error
r2 = math.sqrt(x*x + y*y)
r1 = z#+a1
phi2 = math.atan(r2/r1)
r3 = math.sqrt(r1*r1 + r2*r2)
p = a3*a3 +r3*r3 -a4*a4
q = 2*a3*r3
phi1 = math.acos(p/q)
theta1 = phi2 - phi1 + error
r = a3*a3+a4*a4-r3*r3
s= 2*a3*a4
phi3 = math.acos(r/s)
theta2 = pi - phi3 + error
deg = np.array([theta0,theta1,theta2])
#print("inv")
return deg
def delta(target_co,cur_co):
i1 = np.array([target_co - cur_co])
i = i1.transpose()
#print("delta")
return i
def inverse_jacobian(new_angle):
a0 = new_angle.item(0)
a1 = new_angle.item(1)
a2 = new_angle.item(2)
jx0 = (a3*math.sin(a1) +a4*math.sin(a1+a2)) * math.cos(a0)
jx1 = (a3*math.cos(a1) + a4*math.cos(a1+a2))*math.sin(a0)
jx2 = (a4*math.cos(a1 +a2))*math.cos(a0)
jy0 = -(a3*math.sin(a1) +a4*math.sin(a1+a2))*math.sin(a0)
jy1 = (a3*math.cos(a1) +a4 *math.cos(a1+a2)) *math.cos(a0)
jy2 = (a4*math.cos(a1 +a2)) *math.cos(a0)
jz0 = 0
jz1 = (-a3*math.sin(a1) -a4*math.sin(a1+a2))
jz2 = -a4*math.sin(a1+a2)
jacobian = np.array([[jx0,jx1,jx2],[jy0,jy1,jy2],[jz0,jz1,jz2]])
inv_jacobian = inv(jacobian)
#print("inv_jaco")
return inv_jacobian
#if __name__ == 'main' :
def error_correction(in_angle):
'''
b1 = 4.77
b2 = 1.94*in_angle
b3 = -0.34*(in_angle**2)
b4 = 0.0394*(in_angle**3)
b5 = -1.22*(10**-3)*(in_angle**4)
'''
b1 = -0.756
b2 = 0.751*in_angle
b3 = -0.0231*(in_angle**2)
b4 = 3.57*(10**-4)*(in_angle**3)
b5 = -1.94*(10**-6)*(in_angle**4)
correction_factor = b1+b2+b3+b4+b5
return correction_factor
def jacobian_start(x,y,z):
target_co = np.array([x,y,z])
angle = inverse(x,y,z) # determine approx value
new_angle = np.array([angle])
#print(new_angle)
for k in range(300):
cur_co = forward(new_angle)
diff_co = delta(target_co, cur_co)
diff_angle1 = inverse_jacobian(new_angle)
diff_angle = np.matmul(diff_angle1,diff_co)
#diff_angle = diff_angle1 * diff_co
new_angle = np.add(new_angle,diff_angle)
#new_angle = new_angle + diff_angle
#print(new_angle[0,0]*180/pi , new_angle[0,1]*180/pi, new_angle[0,2]*180/pi)
#print(cur_co)
return new_angle[0,0]*180/pi , new_angle[0,1]*180/pi, new_angle[0,2]*180/pi
if __name__=="__main__":
a3 = 20
a4 =35
a1 =5
## link lengths will be updated
pi =3.14
with open('place_coordinates.dat','r') as f:
output_list1 = f.read().strip().split(',')
x_co1, y_co1, z_co1 = float(output_list1[1]) ,float(output_list1[2]) , float(output_list1[3])
pub = rospy.Publisher('servo_angle', Twist, queue_size = 1)
rospy.init_node('arm_angle')
in1 , in2 , in3 = jacobian_start(x_co1,y_co1,z_co1)
correction = error_correction(in2)
final_angle = [in1 , in2+correction, in3]
with open("place_ik.dat", "w+") as f:
f.write(str(("place_ik",final_angle[0] , final_angle[1], final_angle[2],"place_ik")))
'''
print(final_angle)
twist = Twist()
twist.linear.x = final_angle[0]; twist.linear.y = final_angle[1]; twist.linear.z = final_angle[2];
twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = 0
pub.publish(twist)
'''
'''
with open('pick_coordinates.dat','r') as f:
output_list1 = f.read().strip().split(',')
x_co1, y_co1, z_co1 = float(output_list1[1]) ,float(output_list1[2]) , float(output_list1[3])
jacobian_start(x_co1, y_co1, z_co1)
with open('place_coordinates.dat','r') as f:
output_list2 = f.read().strip().split(',')
x_co2, y_co2, z_co2 = float(output_list2[1]) ,float(output_list2[2]) , float(output_list2[3])
jacobian_start(x_co1, y_co1, z_co1)
'''