[Marco Maggi] On my 1.3 GHz processor I see a little delay while the event loop is going... [http://web.tiscali.it/marcomaggi/images/robot.png] ---- # anthropomorphous-robot.tcl -- # # Part of: Useless Widgets Package # Contents: shows how to move an anthropomorphous robot arm # Date: Wed Nov 24, 2004 # # Abstract # # This script shows how to move linked elements with # Denavit-Hartenberg coordinates transforms. It makes use of # the "hoco.tcl" package, which you can find on the TCL'ers # Wiki also. You have to place the "hoco.tcl" file in the # same directory of this file. # # Copyright (c) 2004 Marco Maggi # # The author hereby grant permission to use, copy, modify, distribute, # and license this software and its documentation for any purpose, # provided that existing copyright notices are retained in all copies # and that this notice is included verbatim in any distributions. No # written agreement, license, or royalty fee is required for any of the # authorized uses. Modifications to this software may be copyrighted by # their authors and need not follow the licensing terms described here, # provided that the new terms are clearly indicated on the first page of # each file where they apply. # # IN NO EVENT SHALL THE AUTHOR OR DISTRIBUTORS BE LIABLE TO ANY PARTY # FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES # ARISING OUT OF THE USE OF THIS SOFTWARE, ITS DOCUMENTATION, OR ANY # DERIVATIVES THEREOF, EVEN IF THE AUTHOR HAVE BEEN ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. # # THE AUTHOR AND DISTRIBUTORS SPECIFICALLY DISCLAIM ANY WARRANTIES, # INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF # MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND # NON-INFRINGEMENT. THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, # AND THE AUTHOR AND DISTRIBUTORS HAVE NO OBLIGATION TO PROVIDE # MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. # #page ## ------------------------------------------------------------ ## Setup. ## ------------------------------------------------------------ package require Tcl 8.4 package require Tk 8.4 set pathname [file dirname $argv] source [file join $pathname hoco.tcl] #page ## ------------------------------------------------------------ ## TK options. ## ------------------------------------------------------------ option add *topgeometry +20+20 option add *borderWidth 1 option add *Labelframe.borderWidth 2 option add *command_buttons.exit.text "Exit" foreach { option value } { background \#f8f8f8 width 600 height 600 relief sunken borderwidth 2 x_axis_color red y_axis_color blue z_axis_color green } { option add *Drawing.Canvas.$option $value } proc widget_option_scale_from_to { master from to } { option add *${master}.to $to option add *${master}.from $from } proc widget_option_scale_rotation { args } { foreach w $args { widget_option_scale_from_to $w 180.0 -180.0 } } proc widget_option_scale_translation { args } { foreach w $args { widget_option_scale_from_to $w 300.0 -300.0 } } #page ## ------------------------------------------------------------ ## Widget procedures. ## ------------------------------------------------------------ proc widget_grid_frames { args } { foreach w $args { grid $w -sticky news } } proc widget_configure_toplevel {} { wm geometry . [option get . topgeometry {}] wm title . [option get . toptitle {}] foreach event { } { bind . $event main_exit } } proc widget_build_canvas { master } { global widget_canvas set f [frame $master.drawing -class Drawing] grid [set widget_canvas [canvas $f.canvas]] -sticky news return $f } proc widget_build_command_buttons { master } { set f [frame $master.command_buttons] focus [grid [button $f.exit -command main_exit]] return $f } proc widget_build_scale_frame { master coord_spec } { set f [labelframe $master.$coord_spec -class [string totitle $coord_spec]] set column_index 0 foreach name [uwp_hoco_instance_get_dynamic_parameter_names $coord_spec] { label [set label_widget $f.lab_$name] -text [string totitle $name] scale [set scale_widget $f.$name] $scale_widget set \ [uwp_hoco_instance_get_parameter_value $coord_spec $name] $scale_widget configure -command \ [list widget_update_parameter_from_scale $coord_spec $name] grid $label_widget -column $column_index -row 0 -sticky news grid $scale_widget -column $column_index -row 1 -sticky news incr column_index } return $f } proc widget_update_parameter_from_scale { coord_spec param_name param_value } { uwp_hoco_instance_update_parameter $coord_spec $param_name $param_value after 0 widget_put_drawing_on_canvas } proc widget_canvas_draw { command coords {main_tag {}} {tags {}} } { global widget_canvas if { [string length $main_tag] } { $widget_canvas delete $main_tag } $widget_canvas create $command $coords -tags [lappend tags $main_tag] } proc widget_canvas_query_option { option } { global widget_canvas option get $widget_canvas $option {} } proc widget_canvas_tag_config { tag args } { global widget_canvas eval { $widget_canvas itemconfigure $tag } $args } #page ## ------------------------------------------------------------ ## Main procedures. ## ------------------------------------------------------------ proc main {} { global exit_trigger uwp_hoco_instance_declare workspace -type workspace \ -dynamic [uwp_hoco_transform_get_parameter_names workspace] uwp_hoco_instance_declare base -type homogeneous \ -dynamic [uwp_hoco_transform_get_parameter_names workspace] \ -parameters { 0 90 0 150 0 150 } widget_build_all uwp_hoco_instance_update_parameter canvas y 400 uwp_wireframe_draw_reference_frame Canvas_Frame \ {canvas} {yes {200 0 0 1 0 200 0 1 0 0 0 1 0 0 0 1}} widget_put_drawing_on_canvas interp alias {} main_exit {} uplevel \#0 {set exit_trigger 1} vwait exit_trigger exit } proc widget_put_drawing_on_canvas {} { draw_work_space draw_robot widget_canvas_configure_tags } #page ## ------------------------------------------------------------ ## Work space proof widgets. ## ------------------------------------------------------------ proc widget_build_all {} { widget_setup_options widget_configure_toplevel grid columnconfigure . 0 -weight 1 grid rowconfigure . 0 -weight 1 grid [widget_build_canvas .] [frame [set right_frame .right]] -sticky news widget_grid_frames \ [widget_build_command_buttons $right_frame] \ [widget_build_scale_frame $right_frame workspace] \ [widget_build_robot_frame $right_frame] } proc widget_build_robot_frame { master } { set f [labelframe $master.robot -class Robot] grid \ [widget_build_scale_frame $f link0] \ [widget_build_scale_frame $f link1] \ [widget_build_scale_frame $f link3] \ [widget_build_scale_frame $f link5] \ -sticky news grid \ [widget_build_scale_frame $f link8] \ [widget_build_end_effector_frame $f link10 link11] \ -sticky news return $f } proc widget_build_end_effector_frame { master left right } { set f [labelframe $master.endeffector -class End_effector] label [set label_widget $f.lab_grab] -text "End effector" scale [set scale_widget $f.grab] $scale_widget set [uwp_hoco_instance_get_parameter_value $left a] $scale_widget configure -command \ [list widget_update_end_effector $left $right a] grid $label_widget -row 0 -sticky news grid $scale_widget -row 1 -sticky news return $f } proc widget_update_end_effector { left right coord value } { uwp_hoco_instance_update_parameter $left $coord $value uwp_hoco_instance_update_parameter $right $coord [expr {-($value)}] after 0 widget_put_drawing_on_canvas } proc widget_canvas_configure_tags {} { foreach axis {x y z} { widget_canvas_tag_config reference_frame_${axis}axis \ -fill [widget_canvas_query_option ${axis}_axis_color] } foreach arglist { {reference_frame -arrow last} {Canvas_Frame -fill "\#d0d0d0"} } { eval widget_canvas_tag_config $arglist } widget_canvas_tag_config WorkSpace -fill green widget_canvas_tag_config Robot -width 2 } proc widget_setup_options {} { option add *toptitle "Moving an anthropomorphous robot arm" widget_option_scale_rotation \ workspace.phi workspace.psi \ link0.theta link1.alpha link3.alpha link5.alpha link8.theta foreach widget { endeffector.grab } { option add *${widget}.to 0 option add *${widget}.from -20 } foreach {name text} { Workspace "Work Space" Robot "Robot" } { option add *$name.text $text option add *$name.borderWidth 2 } } #page ## ------------------------------------------------------------ ## Graphical elements. ## ------------------------------------------------------------ interp alias {} draw_work_space {} uwp_wireframe_draw_workspace \ WorkSpace { workspace canvas } #page ## ------------------------------------------------------------ ## Robot links. ## ------------------------------------------------------------ # base link, vertical rotation uwp_hoco_instance_declare link0 -type dh -dynamic { theta } interp alias {} draw_link_0 {} uwp_wireframe_draw_prism link0 \ { link0 base workspace world canvas } \ { yes { 20 0 0 0 0 20 0 0 0 0 50 50 0 0 0 1 } } Robot # rotational link uwp_hoco_instance_declare link1 -type dh -dynamic { alpha } -parameters {80 0 25 0} interp alias {} draw_link_1 {} uwp_wireframe_draw_prism link1 \ { link1 link0 base workspace world canvas } \ { yes { 5 0 0 0 0 20 0 0 0 0 20 0 0 0 0 1 } } Robot # fixed link uwp_hoco_instance_declare link2 -type dh -dynamic {} interp alias {} draw_link_2 {} uwp_wireframe_draw_prism link2 \ { link2 link1 link0 base workspace world canvas } \ { yes { 20 0 0 25 0 20 0 0 0 0 50 30 0 0 0 1 } } Robot # rotational link uwp_hoco_instance_declare link3 -type dh -dynamic { alpha } -parameters {60 0 0 0} interp alias {} draw_link_3 {} uwp_wireframe_draw_prism link3 \ { link3 link2 link1 link0 base workspace world canvas } \ { yes { 5 0 0 0 0 20 0 0 0 0 20 0 0 0 0 1 } } Robot # fixed link uwp_hoco_instance_declare link4 -type dh -dynamic {} interp alias {} draw_link_4 {} uwp_wireframe_draw_prism link4 \ { link4 link3 link2 link1 link0 base workspace world canvas } \ { yes { 20 0 0 -25 0 20 0 0 0 0 50 30 0 0 0 1 } } Robot # rotational link uwp_hoco_instance_declare link5 -type dh -dynamic { alpha } -parameters {60 0 0 0} interp alias {} draw_link_5 {} uwp_wireframe_draw_prism link5 \ { link5 link4 link3 link2 link1 link0 base workspace world canvas } \ { yes { 5 0 0 0 0 20 0 0 0 0 20 0 0 0 0 1 } } Robot # fixed link uwp_hoco_instance_declare link6 -type dh -dynamic {} interp alias {} draw_link_6 {} uwp_wireframe_draw_prism link6 \ { link6 link5 link4 link3 link2 link1 link0 base workspace world canvas } \ { yes { 20 0 0 25 0 20 0 0 0 0 50 30 0 0 0 1 } } Robot # transparent link uwp_hoco_instance_declare link7 -type dh -dynamic {} -parameters {85 0 25 0} interp alias {} draw_link_7 {} uwp_wireframe_draw_prism link7 \ { link7 link6 link5 link4 link3 link2 link1 link0 base workspace world canvas } \ { yes { 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 } } Robot # rotational link uwp_hoco_instance_declare link8 -type dh -dynamic { theta } -parameters {0 0 0 0} interp alias {} draw_link_8 {} uwp_wireframe_draw_prism link8 \ { link8 link7 link6 link5 link4 link3 link2 link1 link0 base workspace world canvas } \ { yes { 20 0 0 0 0 20 0 0 0 0 5 0 0 0 0 1 } } Robot # fixed link, end-effector base uwp_hoco_instance_declare link9 -type dh -dynamic {} interp alias {} draw_link_9 {} uwp_wireframe_draw_prism link9 \ { link9 link8 link7 link6 link5 link4 link3 link2 link1 link0 base workspace world canvas } \ { yes { 60 0 0 0 0 20 0 0 0 0 20 25 0 0 0 1 } } Robot # translating link, end-effector theet uwp_hoco_instance_declare link10 -type dh -dynamic { a } interp alias {} draw_link_10 {} uwp_wireframe_draw_prism link10 \ { link10 link9 link8 link7 link6 link5 link4 link3 link2 link1 link0 base workspace world canvas } \ { yes { 20 0 0 40 0 20 0 0 0 0 30 75 0 0 0 1 } } Robot uwp_hoco_instance_declare link11 -type dh -dynamic {} interp alias {} draw_link_11 {} uwp_wireframe_draw_prism link11 \ { link11 link9 link8 link7 link6 link5 link4 link3 link2 link1 link0 base workspace world canvas } \ { yes { 20 0 0 -40 0 20 0 0 0 0 30 75 0 0 0 1 } } Robot proc draw_robot {} { for {set i 0} {$i < 12} {incr i} { draw_link_$i } } #page ## ------------------------------------------------------------ ## Let's go. ## ------------------------------------------------------------ main ### end of file # Local Variables: # mode: tcl # End: ---- See also [hoco an homogeneous coordinates package]. ---- [[ [Category Graphics] - [Category 3D Graphics] ]]