This program generates a trajectory for the youBot robot simulated in CoppelliaSim.
The code works by first generating a reference trajectory with the TrajectoryGenerator
function.
best.mp4
Once a reference trajectory has been created, the program enters a loop which does the following:
- Calls
FeedbackControl()which runs a feedforward + PI controller based on the current configuration and reference configuration to obtain control velocities to keep the robot on the reference trajectory. - Call
NextPlan()which uses the control velocities from the feedback controller to compute the configuration of the robot at the next step with a first order Euler step - Call
Tse_from_config()to find the configuration of the end effector with forward kinematics. - Save the robot configuration and error in an array
After the main program loop completes, write the robot configuration and error history arrays to CSV files and plot the error data. The error data plot will also be saved to a PNG file.
To run the program, simply navigate to the "code/" directory in a terminal
and run the main.py script with the appropriate argument:
- To run the best case, run the following command:
python3 main.py best - To run the overshoot case, run the following command
python3 main.py overshoot - To run the newTask case, run the following command
python3 main.py newTask