作者：想飞的猪

说明：MLGetIdentityMat为获得单位矩阵函数

MLMatMulti为矩阵相乘函数

和OpenCV求逆矩阵函数cvInvert没有给出请大家自己写一下！很简单的！

typedef struct

RobotJacobian6

{

//变量!

//各关节传递矩阵!

union

{

struct

{

double

AMat[6][4][4];

}; double A0to1[4][4];

double A1to2[4][4];

double A2to3[4][4];

double A3to4[4][4];

double A4to5[4][4];

double A5to6[4][4];

};

union

{

struct

{

double

TMat[6][4][4];

};

struct {

double

T0to6[4][4];

double

T1to6[4][4];

double

T2to6[4][4];

double

T3to6[4][4];

double

T4to6[4][4];

double

T5to6[4][4];

};

};

//末端位姿!

double EndPose[4][4];

//D-H参数表!

double DHParam[6][4];//顺序为：Angle d_L a_L

a_A!

//雅克比矩阵!

double EndJacobian[6][6];

//逆雅克比矩阵!

double EndInvJacobian[6][6];

//基坐标的笛卡尔微分运动到末端坐标的传递矩阵!

double JBasetoEnd[6][6];

double

T_1to6[4][4];//该矩阵的姿态与基坐标一致，位置与末端坐标一致!

//以便可以按照基坐标进行平动和绕基坐标轴方向转动!

double mInput[6]; //输入!

double mOutput[6];//输出!

int mMode;

void GetAMat()

{

for (int

i=0;i<6;i++)

{

MLGetDHTransMat(AMat[i],DHParam[i][0],DHParam[i][1],DHParam[i][2],DHParam[i][3]);

}

}

void

GetTMat()

{

MLGetIdentityMat(T5to6);

MLMatMulti(AMat[5],T5to6);

MLMatMulti(AMat[4],T5to6,T4to6);MLMatMulti(AMat[3],T4to6,T3to6);

MLMatMulti(AMat[2],T3to6,T2to6);

MLMatMulti(AMat[1],T2to6,T1to6);

MLMatMulti(AMat[0],T1to6,T0to6);

}

void

UpdateAngle(double

Angles[6])//Angles为弧度!

{for (int

i=0;i<6;i++)

{

DHParam[i][0]=Angles[i];

}

GetAMat();

GetEndPose();

GetTMat(); GetEndJacobian();

GetEndInvJacobian();

GetJBasetoEnd();

}

void Inti(double DHparameter[6][4])

{

for (int

i=0;i<6;i++)

{

for (int

j=0;j<4;j++)

{

DHParam[i][j]=DHparameter[i][j];

}

}

GetAMat();

GetEndPose();

GetTMat();

GetEndJacobian();

GetEndInvJacobian();

GetJBasetoEnd();

for

(i=0;i<6;i++)

{

mInput[i]=0;

mOutput[i]=0;

}

mMode=BASE;

}

void

GetEndPose()

{

MLGetIdentityMat(EndPose);

for (int

i=0;i<6;i++)

{

MLMatMulti(AMat[5-i],EndPose);

}

}

void

GetEndJacobian()

{

for (int

i=0;i<6;i++)

{

EndJacobian[0][i]=-1*TMat[i][Xx][Nn]*TMat[i][Yy][Pp]+TMat[i][Yy][Nn]*TMat[i][Xx][Pp];

EndJacobian[1][i]=-1*TMat[i][Xx][Oo]*TMat[i][Yy][Pp]+TMat[i][Yy][Oo]*TMat[i][Xx][Pp];

EndJacobian[2][i]=-1*TMat[i][Xx][Aa]*TMat[i][Yy][Pp]+TMat[i][Yy][Aa]*TMat[i][Xx][Pp];

EndJacobian[3][i]=TMat[i][Zz][Nn];

EndJacobian[4][i]=TMat[i][Zz][Oo];

EndJacobian[5][i]=TMat[i][Zz][Aa];

}

}

void

GetEndInvJacobian()

{

double Data1[36];

CvMat Mat1 = cvMat(

6,6,CV_64FC1,Data1);

double

Data2[36];

CvMat Mat2 = cvMat(

6,6,CV_64FC1,Data2);

for (int

i=0;i<6;i++)

{

for (int

j=0;j<6;j++)

{

cvmSet(&Mat1,i,j,EndJacobian[i][j]);

}

}

cvInvert(&Mat1,&Mat2,CV_SVD);

for

(i=0;i<6;i++)

{

for (int

j=0;j<6;j++)

{

EndInvJacobian[i][j]=cvmGet(&Mat2,i,j);

}

}

}

void

EndOutput(double Input[6], double Output[6])//Output为角速度!

{

MLMatMulti_3(EndInvJacobian,Input,Output);

}

void

GetJBasetoEnd()

{

double TransMat[4][4];

MLGetIdentityMat(TransMat);

TransMat[0][3]=-1*EndPose[0][3];

TransMat[1][3]=-1*EndPose[1][3];

TransMat[2][3]=-1*EndPose[2][3];

MLMatMulti(TransMat,EndPose,T_1to6);

JBasetoEnd[0][0]=T_1to6[Xx][Nn];

JBasetoEnd[0][1]=T_1to6[Yy][Nn];

JBasetoEnd[0][2]=T_1to6[Zz][Nn];

JBasetoEnd[1][0]=T_1to6[Xx][Oo];

JBasetoEnd[1][1]=T_1to6[Yy][Oo];

JBasetoEnd[1][2]=T_1to6[Zz][Oo];

JBasetoEnd[2][0]=T_1to6[Xx][Aa];

JBasetoEnd[2][1]=T_1to6[Yy][Aa];

JBasetoEnd[2][2]=T_1to6[Zz][Aa];

for (int

i=3;i<6;i++)

{

for (int

j=0;j<3;j++)

{

JBasetoEnd[i][j]=0;

}

}

JBasetoEnd[3][3]=T_1to6[Xx][Nn];

JBasetoEnd[3][4]=T_1to6[Yy][Nn];

JBasetoEnd[3][5]=T_1to6[Zz][Nn];

JBasetoEnd[4][3]=T_1to6[Xx][Oo];

JBasetoEnd[4][4]=T_1to6[Yy][Oo];

JBasetoEnd[4][5]=T_1to6[Zz][Oo];

JBasetoEnd[5][3]=T_1to6[Xx][Aa];

JBasetoEnd[5][4]=T_1to6[Yy][Aa];

JBasetoEnd[5][5]=T_1to6[Zz][Aa];

JBasetoEnd[0][3]=T_1to6[Yy][Pp]*T_1to6[Zz][Nn]-T_1to6[Zz][Pp]*T_1to6[Yy][Nn];//(P×N)x

JBasetoEnd[0][4]=T_1to6[Zz][Pp]*T_1to6[Xx][Nn]-T_1to6[Xx][Pp]*T_1to6[Zz][Nn];//(P×N)y

JBasetoEnd[0][5]=T_1to6[Xx][Pp]*T_1to6[Yy][Nn]-T_1to6[Yy][Pp]*T_1to6[Xx][Nn];//(P×N)z

JBasetoEnd[1][3]=T_1to6[Yy][Pp]*T_1to6[Zz][Oo]-T_1to6[Zz][Pp]*T_1to6[Yy][Oo];//(P×O)x

JBasetoEnd[1][4]=T_1to6[Zz][Pp]*T_1to6[Xx][Oo]-T_1to6[Xx][Pp]*T_1to6[Zz][Oo];//(P×O)y

JBasetoEnd[1][5]=T_1to6[Xx][Pp]*T_1to6[Yy][Oo]-T_1to6[Yy][Pp]*T_1to6[Xx][Oo];//(P×O)z

JBasetoEnd[2][3]=T_1to6[Yy][Pp]*T_1to6[Zz][Aa]-T_1to6[Zz][Pp]*T_1to6[Yy][Aa];//(P×A)x

JBasetoEnd[2][4]=T_1to6[Zz][Pp]*T_1to6[Xx][Aa]-T_1to6[Xx][Pp]*T_1to6[Zz][Aa];//(P×A)y

JBasetoEnd[2][5]=T_1to6[Xx][Pp]*T_1to6[Yy][Aa]-T_1to6[Yy][Pp]*T_1to6[Xx][Aa];//(P×A)z

}

void

BaseOutput(double BaseInput[6], double

Output[6])//Output为角速度!

{

double EndInput[6];

MLMatMulti_3(JBasetoEnd,BaseInput,EndInput);

EndOutput(EndInput,Output);

}

void

SetInput(double Input[6])

{

for (int

i=0;i<6;i++)

{

mInput[i]=Input[i];

}

}

void SetMode(int

mode)

{

mMode=mode;

}

void

GetOutput(int mode=BASE)

{

int i=0;

int j=0;

switch(mode)

{

case eND:

EndOutput(mInput,mOutput);

break;

case BASE:

BaseOutput(mInput,mOutput);

break;

}

}

RobotJacobian6()

{

}

RobotJacobian6(double

DHparameter[6][4])

{

Inti(DHparameter);

}

}MLJacobian;