Franka Robot demo 笛卡尔位姿运动生成器实例(generate_cartesian_pose_motion.cpp)

// Copyright (c) 2023 Franka Robotics GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#include <cmath>
#include <iostream>

#include <franka/exception.h>
#include <franka/robot.h>

#include "examples_common.h"

/**
 * @example generate_cartesian_pose_motion.cpp
 * An example showing how to generate a Cartesian motion.
 *
 * @warning Before executing this example, make sure there is enough space in front of the robot.
 */

int main(int argc, char** argv) {
  if (argc != 2) {
    std::cerr << "Usage: " << argv[0] << " <robot-hostname>" << std::endl;
    return -1;
  }
  try {
    franka::Robot robot(argv[1]);
    setDefaultBehavior(robot);

    // First move the robot to a suitable joint configuration
    std::array<double, 7> q_goal = {{0, -M_PI_4, 0, -3 * M_PI_4, 0, M_PI_2, M_PI_4}};
    MotionGenerator motion_generator(0.5, q_goal);
    std::cout << "WARNING: This example will move the robot! "
              << "Please make sure to have the user stop button at hand!" << std::endl
              << "Press Enter to continue..." << std::endl;
    std::cin.ignore();
    robot.control(motion_generator);
    std::cout << "Finished moving to initial joint configuration." << std::endl;

    // Set additional parameters always before the control loop, NEVER in the control loop!
    // Set collision behavior.
    robot.setCollisionBehavior(
        {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},
        {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},
        {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}},
        {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}});

    std::array<double, 16> initial_pose;
    double time = 0.0;
    robot.control([&time, &initial_pose](const franka::RobotState& robot_state,
                                         franka::Duration period) -> franka::CartesianPose {
      time += period.toSec();

      if (time == 0.0) {
        initial_pose = robot_state.O_T_EE_c;
      }

      constexpr double kRadius = 0.3;
      double angle = M_PI / 4 * (1 - std::cos(M_PI / 5.0 * time));
      double delta_x = kRadius * std::sin(angle);
      double delta_z = kRadius * (std::cos(angle) - 1);

      std::array<double, 16> new_pose = initial_pose;
      new_pose[12] += delta_x;
      new_pose[14] += delta_z;

      if (time >= 10.0) {
        std::cout << std::endl << "Finished motion, shutting down example" << std::endl;
        return franka::MotionFinished(new_pose);
      }
      return new_pose;
    });
  } catch (const franka::Exception& e) {
    std::cout << e.what() << std::endl;
    return -1;
  }

  return 0;
}

关键点

• 初始配置：将机器人移动到一个安全的初始配置。
• 碰撞行为：在控制循环之前设置碰撞行为。
• 控制回调：生成一个基于正弦函数的笛卡尔位姿运动，并在10秒后结束运动。
• 异常处理：确保在发生异常时输出错误信息并安全地停止程序。