SpiralParameterization.hpp File Reference

Parameterization of a strategy that searches for a hole using a spiral strategy. More...

#include <rw/core/Ptr.hpp>
#include <rwlibs/assembly/AssemblyParameterization.hpp>

Classes
class	SpiralParameterization
	Parameterization of a strategy that searches for a hole using a spiral strategy. More...

Namespaces
	rw
	Deprecated namespace since 16/4-2020 for this class.
	rw::core
	Most basic types for RobWork.
	rwlibs
	Extension libraries for RobWork.
	rwlibs::assembly
	Assembly strategies and task & result formats for assembly operations.

Detailed Description

Parameterization of a strategy that searches for a hole using a spiral strategy.

The following illustration shows the spiral motion performed using the spiral strategy. The blue point shows the initial location of the one end of the peg, while the red spiral shows the opposite end of the peg. During the spiral motion, the peg will gradually go from vertical to more and more horizontal. At the same time, the one end of the peg will remain on the same vertical line compared to the hole.

Top view and side view of the spiral motion

performed with the peg to search for hole."

The strategy is parameterized using the following parameters:

| Parameter | Description | Units | Units in PropertyMap | | --------------— | ------------------------------------------------------------------------— | ----------------— | -----------------— | | r | The spiral radius. | \(\frac{m}{rad}\) | \(\frac{mm}{rad}\) | | n | Number of turns. | | | | \(l_{peg}\) | Length from end of peg to the point where rotation occurs (the blue point). | m | mm | | \(l_{push}\) | Offset of the peg in the z-direction. | m | mm | | \(l_{start}\) | Offset of the peg in the z-direction for the approach pose. | m | mm | | \(d_{success}\) | Depth in hole where insertion is considered successful. | m | mm | | v | Speed of motion. | \(\frac{m}{s}\) | \(\frac{mm}{s}\) | | \(\Delta d\) | Discretization of spiral. | rad | rad | | \(f_{max}\) | Maximum force allowed before strategy is aborted. | N | N |