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compiler.xml
eval.tex 1.52 KiB
\chapter{EVALUVATION}\label{ch:conclusion}
\section{Results}
\subsection{WORLD MODEL TEST RESULTS}
The implementation section gives out results for the Position and Orientation of Joints of Robot Franka Panda Emika .\\
They are 7 in number but only about 3 are shown here as a sample.Here are the results .
\lstset {language=C++}
\lstset{
basicstyle=\fontsize{10}{11}\selectfont\ttfamily
}
\begin{lstlisting}
pandalink1 Position is x=0,y=0,z=0.333
pandalink2 Position is x=0,y=0,z=0.333
pandalink3 Position is x=-0.120566,y=-1.81861e05,z=0.625095
....
pandalink1 Orientation is w=1,x=0,y=0,z=7.54195e05
pandalink2 Orientation is w=0.693616,x=-0.693595,y=-0.137573,z=-0.137468
pandalink3 Orientation is w=0.980906,x=1.16121e05,y=-0.194483,z=8.93912e05
....
\end{lstlisting}
The robot was moved in Gazebo Simulator after a motion planning trajectory execution in Rviz motion planner.\\
The node was again built and run giving new values for position and orientation of joints.
\lstset {language=C++}
\lstset{
basicstyle=\fontsize{11}{11}\selectfont\ttfamily
}
\begin{lstlisting}
pandalink1 Position is x=0,y=0,z=0.333
pandalink2 Position is x=0,y=0,z=0.333
pandalink3 Position is x=-0.00290409,y=0.296506,z=0.442232
....
pandalink1 Orientation is w=0.703636,x=0,y=0,z=0.710561
pandalink2 Orientation is w=0.120731,x=-0.695508,y=-0.127549,z=0.696724
pandalink3 Orientation is w=0.443721,x=-0.314109, y=0.478016,z=0.68989
....
\end{lstlisting}
This show a changed set of values for position and orientation for all joints of Robot Franka Panda .