BHandForceExt Class Reference
[Module to get "higer-level" (force) control of a BarrettHand]

Class for Force controlled movements of barret hand. More...

#include <bhandforceext.h>

Inheritance diagram for BHandForceExt:

[legend]Collaboration diagram for BHandForceExt:


Public Member Functions
	BHandForceExt (std::string devName)
	Constructor for class BHandForce.
void	init ()
	Initializes the BarrettHand.
virtual	~BHandForceExt ()
	Destructor.
Movement Commands
Movement commands are motor commands: they immediately affect one or more of the motors.
void	adjustForce (const Motors motors, const double force) throw (BHandException)
	Moves the finger(s) that the force is obtained.
void	force2File (std::string fileName, bool showPlot=false)
	Records force values to file.
void	move (const Motors motors, const int position[4]) throw (BHandException)
	Moves all Motors to the given Position.
void	move (const Motors motors, const int position) throw (BHandException)
	Moves all Motors to the given Position.
void	move (const Motors motors, const bool plotIt=false) throw (BHandException)
	Moves vereryone of the motors to its desired position.
void	moveForce (const Motors motors, double force) throw (BHandException, BHMotorException)
	Moves (closes) the fingers until the finger is not moving or the limit force is reached.
void	moveForce (const Motors motors, double force[3], const bool sameSpeed=false) throw (BHandException, BHMotorException)
	Moves (closes) the fingers until the finger is not moving or the limit force is reached.
void	moveG (const Motors motors, const int position) throw (BHandException)
void	moveG (const Motors motors) throw (BHandException)
Force commands
void	getForce (double *forces, const bool update=true)
	Returns the finger force values.
Movement Parameter Commands
Movement parameter commands have effects on the movement commands.
void	setMaxForce (const double force, const Motors motors=FINGERS)
	Sets the maximal allowed force for the given fingers.
void	setMinForce (const double force, const Motors motors=FINGERS)
	Sets the minimal allowed force for the given fingers.
Protected Attributes
ZLinearFunction	RealForceFunction [NUM_FINGERS]

Detailed Description

Class for Force controlled movements of barret hand.

This class provides higher-level functions for force controll of the BarrettHand with use of the strain-gage sensors.
Due to the fact that the TorqueSwitch is not detectable by hardware a force log mechanis is implemented to detect the activation. For activation the speed has to be above 40. The logging mechanis is implemented to detect activations at a speed of 50. If the speed is over 70 a secure detection is not possible, because you do not get enough force feedback value for detection.
The activation of the TorqueSwicth has a dramatical impact on the force values observed by the force sensor of the corresponding finger. For this reasion it is impossible to have both: contorl of the TorqueSwitch and a force to reach.

Author:: Tim Baier

Todo:

add force logging to test if torqueswitch breakaway detectable.

add force calibration for fingers after pos 8000...

adjust controller for position movements

Examples:: main_forceExttest.cc.

Constructor & Destructor Documentation

BHandForceExt::BHandForceExt ( std::string devName )

Constructor for class BHandForce.

Parameters:

devName

Name for the device the BarrettHand is connected to (e.g. /dev/ttyS0).

BHandForceExt::~BHandForceExt ( ) [virtual]

Destructor.

Member Function Documentation

void BHandForceExt::adjustForce	(	const Motors	motors,
		const double	force
	)			throw (BHandException)

Moves the finger(s) that the force is obtained.

The direction of the movement depends on the dircetion of the force. Negative force will close the hand and positive will open it.
So, if you want to hold an object with a specific force, you have to define the force negative.

WARNING The move functions (re)start the realtime mode by themself for the motors of the movement. If rt-mode is enabled it will not be disabled, because it costs to much time. So if you start rt-mode for F1 and want ot adjust the force for F2 you will have call stop() before calling adjustForce() !

Parameters:

	motors	Motors to be Moved. If spread is included it will be ignored.
	force	Force which should be applied to finger tips.

void BHandForceExt::force2File	(	std::string	fileName,
		bool	showPlot = `false`
	)

Records force values to file.

The Hand opens all Fingers and closes them with a rather small velocity. During this close movement all force values form the fingers ar recorded into the given file. If the output file exist, it will be clear before recording.

The output file has the format:
position_F1 force_F1 position_F2 force_F2 poistion_F3 force_F3

Parameters:

	fileName	Output file with force and positon values.
	showPlot	If true the force-position data will be plotted with gnuplot.

Reimplemented from BHandForce.

void BHandForceExt::getForce	(	double *	forces,
		const bool	update = `true`
	)			`[inline]`

Returns the finger force values.

I.e. Reads the finger force values, without moving them and updates force values on internal data structures. Returns the force value minus initialization force value.

Parameters:

	forces	Array in which the forces are stored (Must have size of 3).
	update	Weather the force values should be updated or not. Maybe the update is done before by getForce() or getForce(int *forces).

Examples:: main_forceExttest.cc.

Here is the call graph for this function:

void BHandForceExt::init ( )

Initializes the BarrettHand.

Does the same as BHand::init() but additionally it sets the default prameters for rel time mode.

See also:: setRTDefaults

Reimplemented from BHandForce.

Examples:: main_forceExttest.cc.

void BHandForceExt::move	(	const Motors	motors,
		const int	position[4]
	)			throw (BHandException)

Moves all Motors to the given Position.

If the Limit force of one of the fingers is reached, the motion for the coressponding will be stopped. If F1 or F2 force is exceeded Spread Motion will be stoped also.
The proportional gain value of each motor is ignored!
The function watches the Temperature of the Hand!

Parameters:

	motors	Motors to move.
	position	Desired positions of motors. Unit: MotorCounts The order of the positions must be is [F!,F2,F3,Spread]

Reimplemented from BHandForce.

void BHandForceExt::move	(	const Motors	motors,
		const int	position
	)			throw (BHandException)

Moves all Motors to the given Position.

If the Limit force of one of the fingers is reached, the motion for the coressponding finger will be stopped. If F1 or F2 force is exceeded Spread Motion will be stoped also.
The proportional gain value of each motor is ignored!
The function watches the Temperature of the Hand!

Parameters:

	motors	Motors to move.
	position	Destinated position. Unit: Motor Counts

Reimplemented from BHandForce.

Reimplemented in BHandForceExtKin.

void BHandForceExt::move	(	const Motors	motors,
		const bool	plotIt = `false`
	)			throw (BHandException)

Moves vereryone of the motors to its desired position.

If the Hand is not in RTMode it will be started. If the hand is already in RTMode and RTMode was set for different motors than the parameter given to this command. is probably will fail.

Parameters:

motors

Motors to move.

Reimplemented from BHandForce.

void BHandForceExt::moveForce	(	const Motors	motors,
		double	force
	)			throw (BHandException, BHMotorException) `[inline]`

Moves (closes) the fingers until the finger is not moving or the limit force is reached.

Warning:: The move functions (re)start the realtime mode by themself for the motors of the movement. If rt-mode is enabled it will not be disabled, because it costs to much time. So if you start rt-mode for F1 and want ot adjust the force for F2 you will have call stop() before calling adjustForce() !

Parameters:

	motors	Motors to be Moved. If spread is included it will be ignored.
	force	Force which should be applied to finger tips.

void BHandForceExt::moveForce	(	const Motors	motors,
		double	force[3],
		const bool	sameSpeed = `false`
	)			throw (BHandException, BHMotorException)

Moves (closes) the fingers until the finger is not moving or the limit force is reached.

Warning:: The move functions (re)start the realtime mode by themself for the motors of the movement. If rt-mode is enabled it will not be disabled, because it costs to much time. So if you start rt-mode for F1 and want ot adjust the force for F2 you will have call stop() before calling adjustForce() !

Parameters:

	motors	Motors to be Moved. If spread is included it will be ignored.
	force	Force which should be applied to finger tips.
	sameSpeed	If True all motors will move with the same speed -> then they might have not the desired force any more The speed will be the lowest value of all computed.

Examples:: main_forceExttest.cc.

void BHandForceExt::setMaxForce	(	const double	force,
		const Motors	motors = `FINGERS`
	)

Sets the maximal allowed force for the given fingers.

The positive froce is the force in open direction.

Parameters:

	motors	Fingers for which the minimum force should be set. (Spread joint has no force sensor).
	force	The value of maximal allowed force.

void BHandForceExt::setMinForce	(	const double	force,
		const Motors	motors = `FINGERS`
	)

Sets the minimal allowed force for the given fingers.

The minmum foce is the force in close direction.

Parameters:

	motors	Fingers for which the minimum force should be set. (Spread joint has no force sensor).
	force	The value of minimal allowed force.

Field Documentation

ZLinearFunction BHandForceExt::RealForceFunction[NUM_FINGERS] [protected]

This function is used to compute real force values from the values auf the strain gage senors

The documentation for this class was generated from the following files:

bhandforceext.h
bhandforceext.cc

Tim Baier bhandlib v0.25

Generated Wed Aug 16 14:59:02 2006 by

1.4.7

BHandForceExt Class Reference [Module to get "higer-level" (force) control of a BarrettHand]

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Field Documentation

BHandForceExt Class Reference
[Module to get "higer-level" (force) control of a BarrettHand]