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manipulatorStateSpace

State space for rigid body tree robot models

Description

The manipulatorStateSpace object represents the joint configuration state space of a rigid body tree robot model. For a given rigidBodyTree object, the nonfixed joints in the rigid body tree model form the state space. When sampling the state or specifying bounds, the values of the state vector correspond to joint positions that define a joint configuration with dimension equal to the NumStateVariables property.

Typically, the manipulator state space works with sampling-based path planners like the plannerRRT (Navigation Toolbox) and plannerBiRRT (Navigation Toolbox) objects. To sample and validate paths for manipulators, combine the state space with a state validator manipulatorCollisionBodyValidator object. Because the manipulatorStateSpace object derives from the nav.StateSpace (Navigation Toolbox) class, and is specified in the StateSpace property of the path planners.

To plan paths for manipulators using only Robotics System Toolbox™, see the manipulatorRRT object.

Creation

Description

manipSS = manipulatorStateSpace creates a default state space for a rigid body tree with two revolute joints.

example

manipSS = manipulatorStateSpace(robot) creates a state space for the specified rigidBodyTree object, robot.

manipSS = manipulatorStateSpace(robot,numStateVariables) specifies the number of state variables, which is the number of nonfixed joints in the robot model. You must use this syntax for code generation.

Properties

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Rigid body tree robot model, specified as a rigidBodyTree object. After you create the manipulatorStateSpace object, this property is read-only.

This property is read-only.

Name of the state space object, specified as a string scalar or character vector.

Example: "customManipulatorState"

Dimension of the state space, specified as a positive numeric integer. This property is the dimension of the state space and should match the size of the robot model joint configuration. To get a joint configuration, see the homeConfiguration or randomConfiguration function.

After you create the object, this property is read-only.

Min and max bounds of the joint positions, specified as an n-by-2 matrix with rows of form [min max]. n is the number of state variables in the joint configuration space, specified in the NumStateVariables property. You must specify the [min max] joint positions in meters for prismatic joints and in radians for revolute joints.

Example: [-10 10; -10 10; -pi pi]

Data Types: double

Object Functions

distanceDistance between states
enforceStateBoundsLimit state to state space bounds
sampleUniformSample state using uniform distribution
sampleGaussianSample state using Gaussian distribution
interpolateInterpolate between states

Examples

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Generate states to form a path, validate motion between states, and check for self-collisions and environmental collisions with objects in your world. The manipulatorStateSpace object represents the joint configuration space of your rigid body tree robot model, and can sample states, calculate distances, and enforce state bounds. The manipulatorCollisionBodyValidator object validates the state and motion based on the collision bodies in your robot model and any obstacles in your environment.

Load Robot Model

Use the loadrobot function to access predefined robot models. This example uses the Quanser QArm™ robot and joint configurations are specified as row vectors.

robot = loadrobot("quanserQArm",DataFormat="row");
figure(Visible="on")
show(robot);
xlim([-0.5 0.5])
ylim([-0.5 0.5])
zlim([-0.25 0.75])
hold on

Figure contains an axes object. The axes object contains 16 objects of type patch, line. These objects represent world, base_link, YAW, BICEP, FOREARM, END-EFFECTOR, base_link_mesh, YAW_mesh, BICEP_mesh, FOREARM_mesh, END-EFFECTOR_mesh.

Configure State Space and State Validation

Create the state space and state validator from the robot model.

ss = manipulatorStateSpace(robot);
sv = manipulatorCollisionBodyValidator(ss);

Set the validation distance to 0.05, which is based on the distance normal between two states. You can configure the validator to ignore self collisions to improve the speed of validation, but must consider whether your robot model has the proper joint limit settings set to ensure it does not collide with itself.

sv.ValidationDistance = 0.05;
sv.IgnoreSelfCollision = true;

Place collision objects in the robot environment. Set the Environment property of the collision validator object using a cell array of objects.

box = collisionBox(0.1,0.1,0.5); % XYZ Lengths
box.Pose = trvec2tform([0.2 0.2 0.5]); % XYZ Position
sphere = collisionSphere(0.25); % Radius
sphere.Pose = trvec2tform([-0.2 -0.2 0.5]); % XYZ Position
env = {box sphere};
sv.Environment = env;

Visualize the environment.

for i = 1:length(env)
    show(env{i})
end
view(60,10)

Figure contains an axes object. The axes object contains 18 objects of type patch, line. These objects represent world, base_link, YAW, BICEP, FOREARM, END-EFFECTOR, base_link_mesh, YAW_mesh, BICEP_mesh, FOREARM_mesh, END-EFFECTOR_mesh.

Plan Path

Start with the home configuration as the first point on the path.

rng(0); % Repeatable results
start = homeConfiguration(robot);
path = start;
idx = 1;

Plan a path using these steps, in a loop:

  • Sample a nearby goal configuration, using the Gaussian distribution, by specifying the standard deviation for each joint angle.

  • Check if the sampled goal state is valid.

  • If the sampled goal state is valid, check if the motion between states is valid and, if so, add it to the path.

for i = 2:25
    goal = sampleGaussian(ss,start,0.25*ones(4,1));
    validState = isStateValid(sv,goal);
    
    if validState % If state is valid, check motion between states.
        [validMotion,~] = isMotionValid(sv,path(idx,:),goal);

        if validMotion % If motion is valid, add to path.
            path = [path; goal];
            idx = idx + 1;
        end
    end
end

Visualize Path

After generating the path of valid motions, visualize the robot motion. Because you sampled random states near the home configuration, you should see the arm move around that initial configuration.

To visualize the path of the end effector in 3-D, get the transformation, relative to the base world frame at each point. Store the points as an xyz translation vector. Plot the path of the end effector.

eePose = nan(3,size(path,1));

for i = 1:size(path,1)
    show(robot,path(i,:),PreservePlot=false);
    eePos(i,:) = tform2trvec(getTransform(robot,path(i,:),"END-EFFECTOR")); % XYZ translation vector
    plot3(eePos(:,1),eePos(:,2),eePos(:,3),"-b",LineWidth=2)
    drawnow
end

Figure contains an axes object. The axes object contains 28 objects of type patch, line. These objects represent world, base_link, YAW, BICEP, FOREARM, END-EFFECTOR, base_link_mesh, YAW_mesh, BICEP_mesh, FOREARM_mesh, END-EFFECTOR_mesh.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Introduced in R2021b