322 lines
19 KiB
Mathematica
322 lines
19 KiB
Mathematica
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function [experimentDataStruct] = generateExperimentData(robot, benchmarkSettings, options, varargin)
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% Authors: Quentin Leboutet, Julien Roux, Alexandre Janot and Gordon Cheng
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%
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% Experiment data generation
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if benchmarkSettings.experimentOnTrueRobot == true
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error('TODO: PLEASE REWRITE THIS PART OF THE CODE');
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% Load experiment file:
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fileName = 'mitsu-data_1_100_05';
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experimentFile = sprintf('Benchmark/Robot_Generated_Data/%s/Experiment_Data/%s.mat', benchmarkSettings.robotName, fileName);
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load(experimentFile);
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nbSamples = size(experimentData.Qm,2);
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t_sample = linspace(benchmarkSettings.t_i, benchmarkSettings.t_f, nbSamples); % Sampling epochs
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if benchmarkSettings.trajectoryData.t_f < benchmarkSettings.t_f
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error('Experiment data parsing: the selected time horizon (t_f = %d) is greater than that of the trajectory generator (t_f = %d)!\n', benchmarkSettings.t_f, benchmarkSettings.trajectoryData.t_f);
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end
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Taum = zeros(robot.nbDOF, nbSamples, 1);
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Qm = zeros(robot.nbDOF, nbSamples, 1);
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Qpm = zeros(robot.nbDOF, nbSamples, 1);
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Qppm = zeros(robot.nbDOF, nbSamples, 1);
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Xm = zeros(3, nbSamples, 1);
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Xpm = zeros(3, nbSamples, 1);
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Qd = zeros(robot.nbDOF, nbSamples, 1);
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Qpd = zeros(robot.nbDOF, nbSamples, 1);
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Qppd = zeros(robot.nbDOF, nbSamples, 1);
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Xd = zeros(3, nbSamples, 1);
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Xpd = zeros(3, nbSamples, 1);
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%% Data Parsing:
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augmentedDesiredState = benchmarkSettings.trajectoryData.getTrajectoryData(t_sample, benchmarkSettings.interpolationAlgorithm); % Initial state [Qp;Q]
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[Qd(:,:,1), Qpd(:,:,1), Qppd(:,:,1), Xd(:,:,1), Qm(:,:,1), Xm(:,:,1), Taum(:,:,1)] = parseExperimentData(robot, t_sample, augmentedDesiredState, experimentData, options, varargin);
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experimentDataStruct.time = linspace(benchmarkSettings.t_i, benchmarkSettings.t_f, benchmarkSettings.nbSamples);
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experimentDataStruct.Taum = Taum;
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experimentDataStruct.Qm = Qm;
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experimentDataStruct.Qpm = Qpm;
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experimentDataStruct.Qppm = Qppm;
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experimentDataStruct.Xm = Xm;
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experimentDataStruct.Xpm = Xpm;
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experimentDataStruct.Qd = Qd;
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experimentDataStruct.Qpd = Qpd;
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experimentDataStruct.Qppd = Qppd;
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experimentDataStruct.Xd = Xd;
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experimentDataStruct.Xpd = Xpd;
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else
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numberOfExperimentsPerInitialPoint = benchmarkSettings.numberOfExperimentsPerInitialPoint;
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Xhi_obj = benchmarkSettings.Xhi_obj;
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nbSamples = benchmarkSettings.nbSamples;
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nbCtrlSamples = benchmarkSettings.nbCtrlSamples;
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t_sample = linspace(benchmarkSettings.t_i, benchmarkSettings.t_f, nbSamples); % Sampling epochs
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t_ctrl = linspace(benchmarkSettings.t_i, benchmarkSettings.t_f, nbCtrlSamples); % Control epochs
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if benchmarkSettings.trajectoryData.t_f < benchmarkSettings.t_f
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error('Experiment data generation: the desired time horizon of the simulation (t_f = %d) is greater than that of the trajectory generator (t_f = %d)!\n', benchmarkSettings.t_f, benchmarkSettings.trajectoryData.t_f);
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end
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sd_q = robot.numericalParameters.sd_q; % Noise standard deviation
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sd_tau = robot.numericalParameters.sd_tau; % Noise standard deviation
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Tau = zeros(robot.nbDOF, nbSamples, numberOfExperimentsPerInitialPoint);
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Tau_friction = zeros(robot.nbDOF, nbSamples, numberOfExperimentsPerInitialPoint);
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Taum = zeros(robot.nbDOF, nbSamples, numberOfExperimentsPerInitialPoint);
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Q = zeros(robot.nbDOF, nbSamples, numberOfExperimentsPerInitialPoint);
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Qp = zeros(robot.nbDOF, nbSamples, numberOfExperimentsPerInitialPoint);
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Qpp = zeros(robot.nbDOF, nbSamples, numberOfExperimentsPerInitialPoint);
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X = zeros(3, nbSamples, numberOfExperimentsPerInitialPoint);
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Xp = zeros(3, nbSamples, numberOfExperimentsPerInitialPoint);
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Qm = zeros(robot.nbDOF, nbSamples, numberOfExperimentsPerInitialPoint);
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Qpm = zeros(robot.nbDOF, nbSamples, numberOfExperimentsPerInitialPoint);
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Qppm = zeros(robot.nbDOF, nbSamples, numberOfExperimentsPerInitialPoint);
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Xm = zeros(3, nbSamples, numberOfExperimentsPerInitialPoint);
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Xpm = zeros(3, nbSamples, numberOfExperimentsPerInitialPoint);
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Qd = zeros(robot.nbDOF, nbSamples, numberOfExperimentsPerInitialPoint);
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Qpd = zeros(robot.nbDOF, nbSamples, numberOfExperimentsPerInitialPoint);
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Qppd = zeros(robot.nbDOF, nbSamples, numberOfExperimentsPerInitialPoint);
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Xd = zeros(3, nbSamples, numberOfExperimentsPerInitialPoint);
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Xpd = zeros(3, nbSamples, numberOfExperimentsPerInitialPoint);
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%% Data Generation:
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augmentedDesiredState = benchmarkSettings.trajectoryData.getTrajectoryData(t_ctrl, benchmarkSettings.interpolationAlgorithm); % Initial state [Qp;Q]
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if numberOfExperimentsPerInitialPoint == 1
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for j = 1:numberOfExperimentsPerInitialPoint
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[Q(:,:,j), Qp(:,:,j), Qpp(:,:,j), X(:,:,j), Xp(:,:,j), Tau(:,:,j), Tau_friction(:,:,j), ...
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Qd(:,:,j), Qpd(:,:,j), Qppd(:,:,j), Xd(:,:,j), Xpd(:,:,j), ...
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Qm(:,:,j), Qpm(:,:,j), Qppm(:,:,j), Xm(:,:,j), Xpm(:,:,j), Taum(:,:,j)] = simulateRobot(augmentedDesiredState, t_sample, benchmarkSettings.dt, t_ctrl, benchmarkSettings.dt_ctrl, Xhi_obj, nbSamples, nbCtrlSamples, robot, sd_q, sd_tau, options, j);
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end
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else
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parfor j = 1:numberOfExperimentsPerInitialPoint
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[Q(:,:,j), Qp(:,:,j), Qpp(:,:,j), X(:,:,j), Xp(:,:,j), Tau(:,:,j), Tau_friction(:,:,j), ...
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Qd(:,:,j), Qpd(:,:,j), Qppd(:,:,j), Xd(:,:,j), Xpd(:,:,j), ...
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Qm(:,:,j), Qpm(:,:,j), Qppm(:,:,j), Xm(:,:,j), Xpm(:,:,j), Taum(:,:,j)] = simulateRobot(augmentedDesiredState, t_sample, benchmarkSettings.dt, t_ctrl, benchmarkSettings.dt_ctrl, Xhi_obj, nbSamples, nbCtrlSamples, robot, sd_q, sd_tau, options, j);
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end
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end
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experimentDataStruct.time = linspace(benchmarkSettings.t_i, benchmarkSettings.t_f, benchmarkSettings.nbSamples);
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experimentDataStruct.Tau_friction = Tau_friction;
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experimentDataStruct.Tau = Tau;
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experimentDataStruct.Taum = Taum;
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experimentDataStruct.Q = Q;
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experimentDataStruct.Qp = Qp;
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experimentDataStruct.Qpp = Qpp;
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experimentDataStruct.X = X;
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experimentDataStruct.Xp = Xp;
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experimentDataStruct.Qm = Qm;
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experimentDataStruct.Qpm = Qpm;
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experimentDataStruct.Qppm = Qppm;
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experimentDataStruct.Xm = Xm;
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experimentDataStruct.Xpm = Xpm;
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experimentDataStruct.Qd = Qd;
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experimentDataStruct.Qpd = Qpd;
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experimentDataStruct.Qppd = Qppd;
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experimentDataStruct.Xd = Xd;
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experimentDataStruct.Xpd = Xpd;
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end
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end
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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%% Robot Closed-Loop Simulation Routine:
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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function [Q, Qp, Qpp, X, Xp, Tau, Tau_friction, Qd, Qpd, Qppd, Xd, Xpd, Qm, Qpm, Qppm, Xm, Xpm, Taum] = simulateRobot(augmentedDesiredState, t_sample, dt_sample, t_ctrl, dt_ctrl, Xhi_obj, nbSamples, nbCtrlSamples, robot, sd_q, sd_tau, options, index, varargin)
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% This function runs at the robot controller frequency
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% robot.controlParameters.controlFrequency and collect experimental data at
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% the sampling frequeny robot.controlParameters.samplingFrequency
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% Variables memory initialization:
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Tau = zeros(robot.nbDOF, nbSamples);
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Tau_friction = zeros(robot.nbDOF, nbSamples);
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Taum = zeros(robot.nbDOF, nbSamples);
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Q = zeros(robot.nbDOF, nbSamples);
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Qp = zeros(robot.nbDOF, nbSamples);
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Qpp = zeros(robot.nbDOF, nbSamples);
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X = zeros(3, nbSamples);
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Xp = zeros(3, nbSamples);
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Qm = zeros(robot.nbDOF, nbSamples);
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Qpm = zeros(robot.nbDOF, nbSamples);
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Qppm = zeros(robot.nbDOF, nbSamples);
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Xm = zeros(3, nbSamples);
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Xpm = zeros(3, nbSamples);
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Qd = zeros(robot.nbDOF, nbSamples);
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Qpd = zeros(robot.nbDOF, nbSamples);
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Qppd = zeros(robot.nbDOF, nbSamples);
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Xd = zeros(3, nbSamples);
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Xpd = zeros(3, nbSamples);
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% Variables initial value:
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Qpp(:,1) = augmentedDesiredState(1:robot.nbDOF,1);
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Qp(:,1) = augmentedDesiredState(robot.nbDOF+1:2*robot.nbDOF,1);
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Q(:,1) = augmentedDesiredState(2*robot.nbDOF+1:end,1);
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Qppm(:,1) = augmentedDesiredState(1:robot.nbDOF,1);
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Qpm(:,1) = augmentedDesiredState(robot.nbDOF+1:2*robot.nbDOF,1);
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Qm(:,1) = augmentedDesiredState(2*robot.nbDOF+1:end,1);
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Qppd(:,1) = augmentedDesiredState(1:robot.nbDOF,1);
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Qpd(:,1) = augmentedDesiredState(robot.nbDOF+1:2*robot.nbDOF,1);
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Qd(:,1) = augmentedDesiredState(2*robot.nbDOF+1:end,1);
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measuredState = [Qpm(:,1); Qm(:,1)];
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currentState = augmentedDesiredState(robot.nbDOF+1:end,1);
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integralError = zeros(robot.nbDOF, 1);
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H = feval(sprintf('HT_dh%d_world_%s', robot.nbDOF,robot.name),Q(:,1), robot.numericalParameters.Geometry);
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X(:,1) = H(1:3,4);
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Xp(:,1) = [eye(3),zeros(3)]*feval(sprintf('J_dh%d_world_%s', robot.nbDOF,robot.name),Q(:,1), robot.numericalParameters.Geometry)*Q(:,1);
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Hd = feval(sprintf('HT_dh%d_world_%s', robot.nbDOF,robot.name),Qd(:,1), robot.numericalParameters.Geometry);
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Xd(:,1) = Hd(1:3,4);
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Xpd(:,1) = [eye(3),zeros(3)]*feval(sprintf('J_dh%d_world_%s', robot.nbDOF,robot.name),Qd(:,1), robot.numericalParameters.Geometry)*Qd(:,1);
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Hm = feval(sprintf('HT_dh%d_world_%s', robot.nbDOF,robot.name),Qm(:,1), robot.numericalParameters.Geometry);
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Xm(:,1) = Hm(1:3,4);
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Xpm(:,1) = [eye(3),zeros(3)]*feval(sprintf('J_dh%d_world_%s', robot.nbDOF,robot.name),Qm(:,1), robot.numericalParameters.Geometry)*Qm(:,1);
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Z = robot.numericalParameters.friction.Z0;
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[friction, Z] = generateFriction(Qp(:,1), Z, robot, dt_ctrl);
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Tau_friction(:,1) = friction;
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sampleIndex = 2;
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options.augmentedInitialState=augmentedDesiredState(:,1);
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options.index = index;
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%% Closed loop dynamics:
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for controlIndex = 2:nbCtrlSamples % Runs at controlFrequency and collect data at samplingFrequency
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if ~mod(controlIndex,1000)
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fprintf('Iteration %d of %d, experiment %d\n', controlIndex, nbCtrlSamples, index);
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end
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% Generate contol input:
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[controlInput, integralError] = computeControlInput(dt_ctrl, measuredState, augmentedDesiredState(:,controlIndex), ...
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integralError, robot.controlParameters.Kp, robot.controlParameters.Ki, robot.controlParameters.Kd, robot.controlParameters.Ktau, robot.controlParameters.antiWindup, ...
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robot.physicalConstraints.limQ_L, robot.physicalConstraints.limQ_U, robot.physicalConstraints.limQp_L, ...
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robot.physicalConstraints.limQp_U, robot.physicalConstraints.limQpp_L, robot.physicalConstraints.limQpp_U, ...
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robot.physicalConstraints.limTau_L, robot.physicalConstraints.limTau_U); % Control input generated with noisy measured state
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% Propagate dynamics:
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timeDerivativeState = computeDataGenForwardDynamics(robot.name, currentState, controlInput, Xhi_obj, robot.numericalParameters.Geometry, robot.numericalParameters.Gravity, friction); % Real robot state derivative (no added noise) when submitted to 'Tau'
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% Time integration between t(i-1) and t(i):
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forwardDynamics = @(State, controlInput) computeDataGenForwardDynamics(robot.name, State, controlInput, Xhi_obj, robot.numericalParameters.Geometry, robot.numericalParameters.Gravity, friction);
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switch options.integrationAlgorithm
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case 'rk1'
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currentState = rk1_IntegrationStep(forwardDynamics,currentState,controlInput,dt_ctrl);
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case 'rk2'
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currentState = rk2_IntegrationStep(forwardDynamics,currentState,controlInput,dt_ctrl);
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case 'rk4'
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currentState = rk4_IntegrationStep(forwardDynamics,currentState,controlInput,dt_ctrl);
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case 'ode45'
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[~ , Y_i] = ode45(@(t, Y) computeDataGenForwardDynamics(robot.name, Y, controlInput, Xhi_obj, robot.numericalParameters.Geometry, robot.numericalParameters.Gravity, friction), [t_ctrl(controlIndex-1) t_ctrl(controlIndex)], currentState);
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currentState = Y_i(end,:).';
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otherwise % 'rk1'
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currentState = rk1_IntegrationStep(forwardDynamics,currentState,controlInput,dt_ctrl);
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end
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% Real robot state:
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currentState(1:robot.nbDOF) = min(robot.physicalConstraints.limQp_U,max(robot.physicalConstraints.limQp_L,currentState(1:robot.nbDOF))); % Velocity limit saturation
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currentState(robot.nbDOF+1:end) = min(robot.physicalConstraints.limQ_U,max(robot.physicalConstraints.limQ_L,currentState(robot.nbDOF+1:end))); % Joint limit saturation
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% Measured robot state, reinjected into the control loop:
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measured_Q = noisyMeasurement(currentState(robot.nbDOF+1:end),sd_q); % Noise applied on position measurement (encoder noise)
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measuredState = [discreteTimeDerivative(measured_Q,measuredState(robot.nbDOF+1:end),dt_ctrl); measured_Q]; % Discrete time derivation to get the velocity from the noisy position (as it is usually done in real digital control systems)
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% Compute friction:
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[friction, Z] = generateFriction(currentState(1:robot.nbDOF), Z, robot, dt_ctrl);
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% Store variables in memory at each sampling epoch:
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if t_ctrl(controlIndex) >= t_sample(sampleIndex)
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Q(:,sampleIndex) = currentState(robot.nbDOF+1:end); % Real joint position
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Qp(:,sampleIndex) = timeDerivativeState(robot.nbDOF+1:end); % Real joint velocity
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Qpp(:,sampleIndex) = timeDerivativeState(1:robot.nbDOF); % Real joint acceleration
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Qd(:,sampleIndex) = augmentedDesiredState(2*robot.nbDOF+1:end,controlIndex); % Desired joint position
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Qpd(:,sampleIndex) = augmentedDesiredState(robot.nbDOF+1:2*robot.nbDOF,controlIndex); % Desired joint velocity
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Qppd(:,sampleIndex) = augmentedDesiredState(1:robot.nbDOF,controlIndex); % Desired joint acceleration
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Qm(:,sampleIndex) = measuredState(robot.nbDOF+1:end); % Joint position measured with noisy sensor (re-injected in position control loop)
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Qpm(:,sampleIndex) = measuredState(1:robot.nbDOF); % Discrete time derivative of noisy joint position measurement (re-injected in position control loop)
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Qppm(:,sampleIndex) = discreteTimeDerivative(Qpm(:,sampleIndex),Qpm(:,sampleIndex-1),dt_sample); % Double discrete time derivative of noisy joint position measurement
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Tau(:,sampleIndex) = controlInput; % Real control Torque sent to the robot (without added sensor noise but computed using noisy position measurement)
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Taum(:,sampleIndex) = noisyMeasurement(controlInput, sd_tau); % Control Torque measured with noisy sensor (not re-injected in position control but visible in measured identification data)
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Tau_friction(:,sampleIndex) = friction;
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H = feval(sprintf('HT_dh%d_world_%s', robot.nbDOF,robot.name),Q(:,sampleIndex), robot.numericalParameters.Geometry);
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X(:,sampleIndex) = H(1:3,4); % Real Cartesian Position
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Xp(:,sampleIndex) = [eye(3),zeros(3)]*feval(sprintf('J_dh%d_world_%s', robot.nbDOF,robot.name),Q(:,sampleIndex), robot.numericalParameters.Geometry)*Qp(:,sampleIndex); % Real Cartesian Velocity
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Hd = feval(sprintf('HT_dh%d_world_%s', robot.nbDOF,robot.name),Qd(:,sampleIndex), robot.numericalParameters.Geometry);
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Xd(:,sampleIndex) = Hd(1:3,4); % Desired Cartesian Position
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Xpd(:,sampleIndex) = [eye(3),zeros(3)]*feval(sprintf('J_dh%d_world_%s', robot.nbDOF,robot.name),Qd(:,sampleIndex), robot.numericalParameters.Geometry)*Qpd(:,sampleIndex);% Desired Cartesian Velocity
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Hm = feval(sprintf('HT_dh%d_world_%s', robot.nbDOF,robot.name),Qm(:,sampleIndex), robot.numericalParameters.Geometry);
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Xm(:,sampleIndex) = Hm(1:3,4); % Measured Cartesian Position (with noisy sensor)
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Xpm(:,sampleIndex) = [eye(3),zeros(3)]*feval(sprintf('J_dh%d_world_%s', robot.nbDOF,robot.name),Qm(:,sampleIndex), robot.numericalParameters.Geometry)*Qpm(:,sampleIndex);% Measured Cartesian Velocity (with noisy sensor)
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sampleIndex = sampleIndex+1;
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if sampleIndex > numel(t_sample)
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sampleIndex = numel(t_sample);
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end
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end
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end
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end
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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%% Robot Friction Data Simulation Routine:
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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function [Tau_friction, Z] = generateFriction(Qp, Z, robot, dt)
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Friction = feval(sprintf('Friction_%s', robot.name), Qp, robot.numericalParameters.friction.Fv, robot.numericalParameters.friction.Fc, robot.numericalParameters.friction.Fvm, robot.numericalParameters.friction.Fcm, robot.numericalParameters.friction.Fs, robot.numericalParameters.friction.Vs, robot.numericalParameters.friction.Es, robot.numericalParameters.friction.Sigma_0, robot.numericalParameters.friction.Sigma_1, robot.numericalParameters.friction.Sigma_2, robot.numericalParameters.friction.Tau_off, Z, dt);
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|
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switch robot.frictionDatagenModel
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|
|
% Only Coulomb and viscous frictions are linear and can be identified simultaneously with the other parameters.
|
||
|
|
% Nonlinear friction models require state dependant parameter identification
|
||
|
|
case 'no'
|
||
|
|
Tau_friction = Friction(:,1);
|
||
|
|
case 'Viscous'
|
||
|
|
Tau_friction = Friction(:,2);
|
||
|
|
case 'Coulomb'
|
||
|
|
Tau_friction = Friction(:,3);
|
||
|
|
case 'ViscousCoulomb'
|
||
|
|
Tau_friction = Friction(:,4);
|
||
|
|
case 'ViscousCoulombOff'
|
||
|
|
Tau_friction = Friction(:,5);
|
||
|
|
case 'Stribeck'
|
||
|
|
Tau_friction = Friction(:,6);
|
||
|
|
case 'LuGre'
|
||
|
|
Tau_friction = Friction(:,7);
|
||
|
|
otherwise
|
||
|
|
Tau_friction = Friction(:,1);
|
||
|
|
end
|
||
|
|
|
||
|
|
Z = Friction(:,8);
|
||
|
|
|
||
|
|
end
|
||
|
|
|
||
|
|
|
||
|
|
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||
|
|
%% Robot Real Data Extraction Routine:
|
||
|
|
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||
|
|
|
||
|
|
function [Qd, Qpd, Qppd, Xd, Qm, Xm, Taum] = parseExperimentData(robot, t_sample, augmentedDesiredState, experimentData, options, varargin)
|
||
|
|
|
||
|
|
% This function parse the file containing the results of the experiments performed on the
|
||
|
|
% real robot.
|
||
|
|
|
||
|
|
% Variables memory initialization:
|
||
|
|
nbSamples = numel(t_sample);
|
||
|
|
Xm = zeros(3, nbSamples);
|
||
|
|
Xd = zeros(3, nbSamples);
|
||
|
|
|
||
|
|
Qd = augmentedDesiredState(2*robot.nbDOF+1:end,:); % Desired joint position
|
||
|
|
Qpd = augmentedDesiredState(robot.nbDOF+1:2*robot.nbDOF,:); % Desired joint velocity
|
||
|
|
Qppd = augmentedDesiredState(1:robot.nbDOF,:); % Desired joint acceleration
|
||
|
|
Qm = experimentData.Qm; % Joint position measured with noisy sensor (re-injected in position control loop)
|
||
|
|
Taum = experimentData.Taum; % Control Torque measured with noisy sensor (not re-injected in position control but visible in measured identification data)
|
||
|
|
|
||
|
|
% Store variables in memory at each sampling epoch:
|
||
|
|
for sampleIndex = 1:nbSamples
|
||
|
|
Hd = feval(sprintf('HT_dh%d_world_%s', robot.nbDOF,robot.name),Qd(:,sampleIndex), robot.numericalParameters.Geometry);
|
||
|
|
Xd(:,sampleIndex) = Hd(1:3,4); % Desired Cartesian Position
|
||
|
|
Hm = feval(sprintf('HT_dh%d_world_%s', robot.nbDOF,robot.name),Qm(:,sampleIndex), robot.numericalParameters.Geometry);
|
||
|
|
Xm(:,sampleIndex) = Hm(1:3,4); % Measured Cartesian Position (with noisy sensor)
|
||
|
|
end
|
||
|
|
|
||
|
|
end
|
||
|
|
|