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Update to new version : 8.0.2.0
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‎Libraries/net35/UnderAutomation.UniversalRobots.dll‎

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‎Libraries/net35/UnderAutomation.UniversalRobots.xml‎

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@@ -245,6 +245,11 @@
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Model of a UR robot
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</summary>
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</member>
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<member name="T:UnderAutomation.UniversalRobots.Common.RobotModelsExtended">
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<summary>
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Model of a UR robot (including e-Series and extended payload models)
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</summary>
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</member>
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<member name="T:UnderAutomation.UniversalRobots.Common.OutputModes">
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<summary>
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Digital output modes
@@ -499,6 +504,41 @@
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Default value is false
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</summary>
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</member>
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<member name="T:UnderAutomation.UniversalRobots.Common.IUrDhParameters">
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<summary>
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Denavit–Hartenberg (DH) parameters for Universal Robots with only the relevant parameters
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</summary>
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</member>
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<member name="P:UnderAutomation.UniversalRobots.Common.IUrDhParameters.A2">
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<summary>
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DH parameter a2 (Shoulder)
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</summary>
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</member>
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<member name="P:UnderAutomation.UniversalRobots.Common.IUrDhParameters.A3">
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<summary>
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DH parameter a3 (Elbow)
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</summary>
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</member>
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<member name="P:UnderAutomation.UniversalRobots.Common.IUrDhParameters.D1">
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<summary>
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DH parameter d1 (Base)
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</summary>
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</member>
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<member name="P:UnderAutomation.UniversalRobots.Common.IUrDhParameters.D4">
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<summary>
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DH parameter d4 (Wrist1)
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</summary>
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</member>
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<member name="P:UnderAutomation.UniversalRobots.Common.IUrDhParameters.D5">
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<summary>
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DH parameter d5 (Wrist2)
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</summary>
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</member>
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<member name="P:UnderAutomation.UniversalRobots.Common.IUrDhParameters.D6">
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<summary>
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DH parameter d6 (Wrist3/Tool)
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</summary>
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</member>
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<member name="T:UnderAutomation.UniversalRobots.Common.JointsValues`1">
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<summary>
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Vector 6 of double values representing each robot joint
@@ -667,6 +707,16 @@
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Converts a quaternion to UR rotation vector
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</summary>
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</member>
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<member name="M:UnderAutomation.UniversalRobots.Common.Pose.From4x4MatrixToRotationVector(System.Double[0:,0:])">
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<summary>
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Convert a transformation 4x4 matrix to rotation vector
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</summary>
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</member>
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<member name="M:UnderAutomation.UniversalRobots.Common.Pose.From4x4MatrixToRPY(System.Double[0:,0:])">
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<summary>
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Convert a transformation 4x4 matrix to RPY pose
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</summary>
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</member>
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<member name="T:UnderAutomation.UniversalRobots.Common.PrimaryInterfaceConnectParameters">
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<summary>
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Setup Primary Interface Client communication
@@ -3236,6 +3286,162 @@
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<param name="ip">IP of the robot</param>
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<param name="port">Robot interpreter mode port. Default : 30020</param>
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</member>
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<member name="T:UnderAutomation.UniversalRobots.Kinematics.KinematicsResult">
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<summary>
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Result of a forward kinematics calculation
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</summary>
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</member>
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<member name="P:UnderAutomation.UniversalRobots.Kinematics.KinematicsResult.ToolTransform">
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<summary>
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4x4 transformation matrix of the tool
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</summary>
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</member>
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<member name="P:UnderAutomation.UniversalRobots.Kinematics.KinematicsResult.IndividualLocalTransforms">
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<summary>
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Individual local transformation matrices of each joint
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</summary>
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</member>
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<member name="P:UnderAutomation.UniversalRobots.Kinematics.KinematicsResult.CumulativeGlobalTransforms">
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<summary>
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Cumulative local transformation matrices of each joint
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</summary>
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</member>
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<member name="T:UnderAutomation.UniversalRobots.Kinematics.KinematicsUtils">
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<summary>
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=========================================================================================================
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Implementation notes :
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---------------------------------------------------------------------------------------------------------
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This class implements forward and inverse kinematics for a 6-DOF serial cobot using the analytical method
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described in Chen et al., IEEE ICASI 2017 ("A general analytical algorithm for collaborative robot (cobot)
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with 6 DOF"). The DH convention and the closed-form inverse steps follow the paper's derivations.
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References (equation numbers below refer to the paper):
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- DH homogeneous transform (Eq. (1.1)).
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- Forward kinematics chain product T_0^6 = Π_i T_{i-1}^i (Eq. (1.2)).
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- Inverse kinematics main steps:
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q1 from Eq. (1.12) ; q5 from Eq. (1.15) ; q6 from Eq. (1.17) ; q234 from Eq. (1.20) ;
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q2 from Eq. (1.25) ; q3 and q4 from Eq. (1.27).
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Singularity check equation used (paper text):
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det(J) ∝ s3 * s5 * a2 * a3 * (c2*a2 + c23*a3 + s234*d5)
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Paper: Chen, S., Luo, M., Abdelaziz, O., Jiang, G. "A General Analytical Algorithm for Collaborative Robot
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(cobot) with 6 DOF", IEEE ICASI 2017.
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=========================================================================================================
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</summary>
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</member>
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<member name="F:UnderAutomation.UniversalRobots.Kinematics.KinematicsUtils.eps">
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<summary>Small value for numerical stability (epsilon).</summary>
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</member>
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<member name="M:UnderAutomation.UniversalRobots.Kinematics.KinematicsUtils.DHTransform(System.Double,System.Double,System.Double,System.Double)">
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<summary>
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Denavit–Hartenberg homogeneous transform
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</summary>
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</member>
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<member name="M:UnderAutomation.UniversalRobots.Kinematics.KinematicsUtils.HomogeneousMultiply(System.Double[0:,0:],System.Double[0:,0:])">
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<summary>
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Homogeneous matrix multiplication optimized for DH transforms.
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</summary>
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</member>
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<member name="M:UnderAutomation.UniversalRobots.Kinematics.KinematicsUtils.NormalizeAngle(System.Double)">
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<summary>Normalize an angle to (-π, π]</summary>
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</member>
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<member name="M:UnderAutomation.UniversalRobots.Kinematics.KinematicsUtils.ForwardKinematics(System.Double[],UnderAutomation.UniversalRobots.Common.IUrDhParameters)">
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<summary>
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Forward kinematics : compute tool transform and intermediate transforms from joint angles (radians) and DH parameters.
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</summary>
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<param name="jointAnglesRad">Array of 6 joint angles in radians.</param>
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<param name="dhParameters">Robot DH parameters.</param>
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<returns>Tool transform and intermediate transforms.</returns>
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</member>
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<member name="M:UnderAutomation.UniversalRobots.Kinematics.KinematicsUtils.GetNearestSolution(System.Double[][],System.Double[])">
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<summary>
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Pick the solution nearest to a reference joint vector (L1 distance). Null if invalid inputs.
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</summary>
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<param name="jointSolutions">Array of candidate joint angles (6 elements each).</param>
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<param name="jointReference">Reference joint angles (6 elements).</param>
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<returns>Nearest joint angles (6 elements) or null.</returns>
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</member>
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<member name="M:UnderAutomation.UniversalRobots.Kinematics.KinematicsUtils.InverseKinematics(System.Double[0:,0:],UnderAutomation.UniversalRobots.Common.IUrDhParameters)">
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<summary>
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Analytical inverse kinematics
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Returns a list of candidate joint vectors; filters out singularities.
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</summary>
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<param name="toolTransform">4×4 tool transform matrix.</param>
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<param name="dhParameters">Robot DH parameters.</param>
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<returns>Array of candidate joint angles (6 elements each).</returns>
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</member>
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<member name="M:UnderAutomation.UniversalRobots.Kinematics.KinematicsUtils.GetSingularity(System.Double,System.Double,System.Double,System.Double,UnderAutomation.UniversalRobots.Common.IUrDhParameters)">
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<summary>
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Singularity detection using det(J) factors: s5≈0 (wrist), s3≈0 (elbow),
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and c2*a2 + c23*a3 + s234*d5≈0 (shoulder).
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</summary>
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</member>
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<member name="M:UnderAutomation.UniversalRobots.Kinematics.KinematicsUtils.GetDhParametersFromModel(UnderAutomation.UniversalRobots.Common.RobotModelsExtended)">
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<summary>
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Get the DH parameters for a given robot model.
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</summary>
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</member>
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<member name="T:UnderAutomation.UniversalRobots.Kinematics.SingularityType">
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<summary>
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Types of singularities
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</summary>
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</member>
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<member name="F:UnderAutomation.UniversalRobots.Kinematics.SingularityType.None">
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<summary>
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No singularity
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</summary>
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</member>
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<member name="F:UnderAutomation.UniversalRobots.Kinematics.SingularityType.Wrist">
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<summary>
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Wrist singularity
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</summary>
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</member>
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<member name="F:UnderAutomation.UniversalRobots.Kinematics.SingularityType.Elbow">
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<summary>
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Elbow singularity
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</summary>
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</member>
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<member name="F:UnderAutomation.UniversalRobots.Kinematics.SingularityType.Shoulder">
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<summary>
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Shoulder singularity
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</summary>
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</member>
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<member name="T:UnderAutomation.UniversalRobots.Kinematics.TransformationSet">
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<summary>
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Set of transformation matrices for each joint
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</summary>
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</member>
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<member name="P:UnderAutomation.UniversalRobots.Kinematics.TransformationSet.Base">
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<summary>
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4x4 transformation matrix of the base joint 1
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</summary>
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</member>
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<member name="P:UnderAutomation.UniversalRobots.Kinematics.TransformationSet.Shoulder">
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<summary>
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4x4 transformation matrix of the shoulder joint 2
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</summary>
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</member>
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<member name="P:UnderAutomation.UniversalRobots.Kinematics.TransformationSet.Elbow">
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<summary>
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4x4 transformation matrix of the elbow joint 3
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</summary>
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</member>
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<member name="P:UnderAutomation.UniversalRobots.Kinematics.TransformationSet.Wrist1">
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<summary>
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4x4 transformation matrix of the wrist1 joint 4
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</summary>
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</member>
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<member name="P:UnderAutomation.UniversalRobots.Kinematics.TransformationSet.Wrist2">
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<summary>
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4x4 transformation matrix of the wrist2 joint 5
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</summary>
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</member>
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<member name="P:UnderAutomation.UniversalRobots.Kinematics.TransformationSet.Wrist3">
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<summary>
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4x4 transformation matrix of the wrist3 (Tool) joint 6
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</summary>
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</member>
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<member name="T:UnderAutomation.UniversalRobots.PrimaryInterface.AdditionalInfoPackageEventArgs">
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<summary>
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Additional information
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RZ position of the TCP in the flange frame in rad
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</summary>
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</member>
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<member name="M:UnderAutomation.UniversalRobots.PrimaryInterface.CartesianInfoPackageEventArgs.AsPose">
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<summary>
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Returns the current cartesian position as a Pose object
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</summary>
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</member>
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<member name="M:UnderAutomation.UniversalRobots.PrimaryInterface.CartesianInfoPackageEventArgs.AsTCPOffsetPose">
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<summary>
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Returns the TCP offset as a Pose object
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</summary>
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</member>
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<member name="T:UnderAutomation.UniversalRobots.PrimaryInterface.ConfigurationDataPackageEventArgs">
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<summary>
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Joint configuration
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Wrist3 (Tool) joint configuration
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</summary>
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</member>
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<member name="P:UnderAutomation.UniversalRobots.PrimaryInterface.ConfigurationDataPackageEventArgs.A2">
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<summary>
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DH parameter a2 (Shoulder.DHa)
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</summary>
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</member>
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<member name="P:UnderAutomation.UniversalRobots.PrimaryInterface.ConfigurationDataPackageEventArgs.A3">
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<summary>
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DH parameter a3 (Elbow.DHa)
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</summary>
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</member>
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<member name="P:UnderAutomation.UniversalRobots.PrimaryInterface.ConfigurationDataPackageEventArgs.D1">
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<summary>
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DH parameter d1 (Base.DHd)
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</summary>
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</member>
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<member name="P:UnderAutomation.UniversalRobots.PrimaryInterface.ConfigurationDataPackageEventArgs.D4">
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<summary>
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DH parameter d4 (Wrist1.DHd)
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</summary>
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</member>
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<member name="P:UnderAutomation.UniversalRobots.PrimaryInterface.ConfigurationDataPackageEventArgs.D5">
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<summary>
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DH parameter d5 (Wrist2.DHd)
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</summary>
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</member>
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<member name="P:UnderAutomation.UniversalRobots.PrimaryInterface.ConfigurationDataPackageEventArgs.D6">
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<summary>
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DH parameter d6 (Wrist3.DHd)
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</summary>
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</member>
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<member name="T:UnderAutomation.UniversalRobots.PrimaryInterface.ForceModeDataPackageEventArgs">
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<summary>
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Force mode data
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Wrist3 (Tool) kinematics info
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</summary>
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</member>
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<member name="P:UnderAutomation.UniversalRobots.PrimaryInterface.KinematicsInfoPackageEventArgs.A2">
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<summary>
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DH parameter a2 (Shoulder.DHa)
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</summary>
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</member>
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<member name="P:UnderAutomation.UniversalRobots.PrimaryInterface.KinematicsInfoPackageEventArgs.A3">
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<summary>
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DH parameter a3 (Elbow.DHa)
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</summary>
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</member>
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<member name="P:UnderAutomation.UniversalRobots.PrimaryInterface.KinematicsInfoPackageEventArgs.D1">
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<summary>
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DH parameter d1 (Base.DHd)
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</summary>
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</member>
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<member name="P:UnderAutomation.UniversalRobots.PrimaryInterface.KinematicsInfoPackageEventArgs.D4">
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<summary>
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DH parameter d4 (Wrist1.DHd)
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</summary>
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</member>
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<member name="P:UnderAutomation.UniversalRobots.PrimaryInterface.KinematicsInfoPackageEventArgs.D5">
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<summary>
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DH parameter d5 (Wrist2.DHd)
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</summary>
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</member>
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<member name="P:UnderAutomation.UniversalRobots.PrimaryInterface.KinematicsInfoPackageEventArgs.D6">
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<summary>
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DH parameter d6 (Wrist3.DHd)
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</summary>
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</member>
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<member name="T:UnderAutomation.UniversalRobots.PrimaryInterface.MasterboardDataPackageEventArgs">
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<summary>
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Masterboard data

‎Libraries/net40/UnderAutomation.UniversalRobots.dll‎

13.5 KB
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