diff --git a/01_IntroductionToPython/i2r_python_intro_fk_with_functions.ipynb b/01_IntroductionToPython/i2r_python_intro_fk_with_functions.ipynb index 1427f7b94dc33557d5d91c0afeb00446f653fdec..2d4e45ff4009c46d3b211211ab433c02917534b1 100644 --- a/01_IntroductionToPython/i2r_python_intro_fk_with_functions.ipynb +++ b/01_IntroductionToPython/i2r_python_intro_fk_with_functions.ipynb @@ -1,9 +1,40 @@ { "cells": [ + { + "cell_type": "markdown", + "id": "fd67f78d-94e8-42d5-b08b-e86968e2e543", + "metadata": {}, + "source": [ + "# Introduction to Python\n", + "\n", + "In the jupyter notebook [`i2r_python_intro_fk.ipynb`](i2r_python_intro_fk.ipynb) we implemented the **forward kinematics** formulation we introduced in the lecture *Course Introduction* on slide 44. This formulation is for a **planar space 2 DoF elbow manipulator**. In this jupyter notebook we will implement a **more general formulation** for forward kinematics which allows to get the x and y coordiantes of the end effector link for a **kinemaic chain with n links**.\n", + "\n", + "For a kinematic chain with **n links** and **n+1 joints** and a **base link fixed in point $[x_0, y_0]$** the position of a **joint i $[x_i, y_i]$** can be calculated as follows.\n", + "\n", + "$x_i = x_{i-1} + a_i \\cdot cos(\\sum_{h=0}^{i} \\theta_h)$ \n", + "\n", + "$y_i = y_{i-1} + a_i \\cdot sin(\\sum_{h=0}^{i} \\theta_h)$ \n", + "\n", + "with $\\{i \\in \\mathbb N_0 | i \\le n\\}$. \n", + "\n", + "Known parameters are:\n", + "\n", + "- coordinates of the base link\n", + " - $x_0$\n", + " - $y_0$\n", + "- link lengths\n", + " - $a_1, a_2, ... , a_n$\n", + "- joint rotation\n", + " - $\\theta_1, \\theta_2, ... , \\theta_n$\n", + "\n", + "\n", + "The implementation of the forward kinematics will be outsourced to **functions** which will be located in the [forward_kinematics.py](forward_kinematics.py) file. " + ] + }, { "cell_type": "code", - "execution_count": 7, - "id": "3b00abe8-c36a-478e-8a49-7065ef4c5fff", + "execution_count": 9, + "id": "5b333a38-9629-4509-ba37-109fde967773", "metadata": {}, "outputs": [], "source": [ @@ -14,7 +45,7 @@ }, { "cell_type": "code", - "execution_count": 8, + "execution_count": 14, "id": "f2ae6e63-b9bd-4f5a-971e-027d99997405", "metadata": {}, "outputs": [], @@ -29,30 +60,20 @@ "a_1 = 1 # in meter\n", "a_2 = 1 # in meter\n", "\n", - "list_a = [a_1, a_2, 1, 0.5, 0.25]\n", + "list_a = [a_1, a_2, 1, 0.5, 0.25] # definition of the list which contains the link lengths\n", "\n", "# Rotation of the joint\n", "theta_1 = 90 # in degree\n", "theta_2 = 45 # in degree\n", "\n", - "list_theta = [theta_1, theta_2, 90, -90, 45]" + "list_theta = [theta_1, theta_2, 90, -90, 45] # definition of the list which contains the joint rotations" ] }, { "cell_type": "code", - "execution_count": 9, + "execution_count": 15, "id": "74529b60-cf48-4a2b-baa4-da628d840995", "metadata": {}, - "outputs": [], - "source": [ - "x, y = forward_kinematics_nLinks_2(a_1, a_2, theta_1, theta_2)" - ] - }, - { - "cell_type": "code", - "execution_count": 10, - "id": "fb304f1a-ec82-4a28-bc86-e2b179078695", - "metadata": {}, "outputs": [ { "name": "stdout", @@ -64,6 +85,8 @@ } ], "source": [ + "# Here we call the 'forward_kinematics_nLinks_2' function\n", + "x, y = forward_kinematics_nLinks_2(a_1, a_2, theta_1, theta_2)\n", "# Printing the results\n", "print(\"x = \", str(x))\n", "print(\"y = \", str(y))" @@ -71,7 +94,7 @@ }, { "cell_type": "code", - "execution_count": 11, + "execution_count": 16, "id": "fcbc3dd1-3e50-4785-9d7f-9e76b62c3494", "metadata": {}, "outputs": [ @@ -85,23 +108,24 @@ } ], "source": [ - "# Testing the more general function\n", + "# Here we call the more generalized function which works for n links\n", "x,y = forward_kinematics(x_0,y_0,list_a, list_theta)\n", + "# Printing the results\n", "print(\"x = \", str(x))\n", "print(\"y = \", str(y))" ] }, { "cell_type": "code", - "execution_count": 12, + "execution_count": 13, "id": "3db0ee2e-f9a6-4c41-aa97-1fbb5ee5c8eb", "metadata": {}, "outputs": [ { "data": { - "image/png": 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", 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\n", "text/plain": [ - "<Figure size 640x480 with 1 Axes>" + "<Figure size 432x288 with 1 Axes>" ] }, "metadata": {}, @@ -129,14 +153,6 @@ "metadata": {}, "outputs": [], "source": [] - }, - { - "cell_type": "code", - "execution_count": null, - "id": "0f344dbd-25ba-49ad-9dc7-dd1cdb846e30", - "metadata": {}, - "outputs": [], - "source": [] } ], "metadata": { @@ -155,7 +171,7 @@ "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", - "version": "3.10.6" + "version": "3.9.7" } }, "nbformat": 4,