ARTTR
EEKS
A KIN
EMATIC
SYN
THESIS
SOLVER F
OR TREE
TOPO
LOGIE
S.
PR
ES
EN
TE
D B
Y A
LI
TA
MI M
I
OUTLINE• ARCHITECTURE
• INSTALLATION
• INPUT
• FORWARD KINEMATHIC
• SOLVABILITY
ARCHITECTUREInput File: Contains the tree topology and the task
positions, velocities and accelerations.
Solvability Library: Functions to calculate tree solvability.
Solvability output: Results of solvability calculations.
Generator File: Functions to check solvability, assemble forward kinematics equations and assign initial values.
Synthesis File: output file with design equations.
Synthesis Library: Library of functions to communicate solver and Synthesis file.
Solvers: Genetic algorithm and Minpack C++ code to generate candidate solutions and perform minimization.
Synthesis output: output file containing the result of the synthesis.
ARCHITECTURE
InputFile
Solvability
Library
Generator
File
Solvability
Output
Synthesis
File
Synthesis
Library
Synthesis
Output
Solvers
INSTALLATION DEPENDENCY• libdq :library for using and manipulating unit dual
quaternions
• cminpack:C++ library for solving nonlinear equations and nonlinear least squares problems .
• Ptheread:defines an API for creating and manipulating threads.
• Lua: a powerful, fast, lightweight, embeddable scripting language.
• SDL(Simple Direct Media Layer): a library designed to provide a low level hardware abstraction layer to computer hardware components.
• libpng: a platform-independent library that contains C functions for handling PNG images.
• Gl: Graphics Library
• Glu: The OpenGL Utility Library (GLU) is a computer graphics library for OpenGL.
• Nlopt: a free/open-source library for nonlinear optimization.
• Minpack: library for solving nonlinear equations and nonlinear least squares problems .
INPUT (TYPE)
Previous Version
• Example: 2-(2,1-(3,3,3),2)
New Version:
• ppt=(0,1,1,1,3,3,3)
• Joints=(2,2,1,2,3,3,3)
INPUT
Forward Kinematics
• Topology of Tree
• Position, Velocity, Acceleration of End Effectors
Solvability
• Topology of Tree
FORWARD KINEMATICS• Make Synthesis FileChain (access)TCP (Contact Point)Splitter
• Send to Synthesis.C
• Use Solvers
• Generate output Files
FORWARD KINEMATICS
SOLVABILITY• Send to Solvability Library
• Notes: Tc ,Bee
SOLVABILITY(BUILD SUBGRAPHS)
SOLVABILITY(BUILD SUB GRAPHS)
ppt={0,1,1,1,3,3,3}Joints={2,2,1,2,3,3,3}
ppt(1)={-1,0,2,2,3,3,3}Joints(1)={-1,2,1,2,3,3,3}
ppt(2)={-1,-1,5,3,0,5,5}Joints(2)={-1,-1,1,2,3,3,3}
ppt(3)={-1,-1,6,3,-1,0,6}Joints(3)={-1,-1,1,2,-1,3,3}
ppt(4)={-1,-1,7,3,-1,-1,0}Joints(4)={-1,-1,1,2,-1,-1,3}
DEMO
Demo Time