platform_spec

Platforms’ Parameters and Kinematic Models Module.

This module defines the platform parameters and kinematic models for different mobile robots. It includes specific models for platforms like Tiago and MiR, which are commonly used for mobile robotics.

class robotblockset.platform_spec.tiagobase_spec[source]

Bases: platform

Defines the parameters and kinematic model for the Tiago mobile robot platform.

Attributes:

  • Name (str) – The name of the platform (“Tiagobase”).

  • nj (int) – The number of joints (2).

  • q_max (numpy.ndarray) – The upper joint limits.

  • q_min (numpy.ndarray) – The lower joint limits.

  • qdot_max (numpy.ndarray) – The maximal joint velocities.

  • v_max (numpy.ndarray) – The maximal task velocities.

  • v_min (numpy.ndarray) – The minimal task velocities.

  • r_platform (float) – The radius of the platform.

  • laser_offset (float) – The distance from the platform center to the laser scanner.

Initializes the Tiago platform with specific parameters such as joint limits, velocities, platform radius, and laser offset.

__init__() → None[source]

Initializes the Tiago platform with specific parameters such as joint limits, velocities, platform radius, and laser offset.

Kinmodel(x: ndarray | List[float] | List[int] | Tuple[float, ...] | Tuple[int, ...] | None = None, out: str = 'x') → Tuple[ndarray, ndarray][source]

Computes the kinematic model and Jacobian of the Tiago platform.

Parameters:

  • x (ArrayLike, optional) – The configuration state of the platform (position and/or orientation).

  • out (str, optional) – The desired output format (default is “x”).

Returns:

A tuple containing the kinematic model and Jacobian matrix.

Return type:

tuple

class robotblockset.platform_spec.mir100_spec[source]

Bases: platform

Defines the parameters and kinematic model for the MiR 100 mobile robot platform.

Attributes:

  • Name (str) – The name of the platform (“MiR”).

  • nj (int) – The number of joints (2).

  • q_max (numpy.ndarray) – The upper joint limits.

  • q_min (numpy.ndarray) – The lower joint limits.

  • qdot_max (numpy.ndarray) – The maximal joint velocities.

  • v_max (numpy.ndarray) – The maximal task velocities.

  • v_min (numpy.ndarray) – The minimal task velocities.

Initializes the MiR platform with specific parameters such as joint limits, velocities, and other platform characteristics.

__init__() → None[source]

Initializes the MiR platform with specific parameters such as joint limits, velocities, and other platform characteristics.

Kinmodel(x: ndarray | List[float] | List[int] | Tuple[float, ...] | Tuple[int, ...] | None = None, out: str = 'x') → Tuple[ndarray, ndarray][source]

Computes the kinematic model and Jacobian of the MiR platform.

Parameters:

  • x (ArrayLike, optional) – The configuration state of the platform (position and/or orientation).

  • out (str, optional) – The desired output format (default is “x”).

Returns:

A tuple containing the kinematic model and Jacobian matrix.

Return type:

tuple

Classes

mir100_spec()

Defines the parameters and kinematic model for the MiR 100 mobile robot platform.

tiagobase_spec()

Defines the parameters and kinematic model for the Tiago mobile robot platform.