JFKengine: A Jacobian and Forward Kinematics Generator

摘要: During robot path planning and control the equations that describe motions are determined solved. Historically these expressions were derived analytically off-line. For robots must adapt to their environment or perform a wide range of tasks, way is needed rapidly re-derive take into account kinematic changes, such as when tool added end-effector. The JFKengine software was developed automatically produce representing manipulator arm motion, including Jacobian forward expressions. Its programming interface can be used in conjunction with simulation software. Thus, it helps automate process configuration changes for serial manipulators. If undergoes geometric change, acquisition, then invoked again from software, passing parameters new configuration. This report describes automated processes implemented by derive which invoked. Then discusses tree data structure chosen store expressions, followed several examples portions expressionsmore » represented tree. C++ classes methods implement expression differentiation evaluation operations described. algorithms construct using basic building blocks illustrated. activity described this part larger project entitled ''Multi-Optimization Criteria-Based Robot Behavioral Adaptability Motion Planning'' focuses on development methodology generalized resolution motion time-varying configurations, constraints, task objective criteria. A specific goal implementation single general code would applicable class systems many involved developing solving controls equations. funded U.S. Department Energy's Environmental Management Science Program (DOE-EMSP) EMSP no. 82794 transitioning DOE-Office Biological Research (OBER) per FY-02.« less