2019-12-19 10:31:18 +00:00
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function Y = regressorWithMotorDynamics(q,qd,q2d)
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% ----------------------------------------------------------------------
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% This function adds motor dynamics to rigid body regressor.
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% It is simplified model of motor dynamics, it adds only reflected
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% inertia i.e. I_rflctd = Im*N^2 where N is reduction ratio - I_rflctd*q_2d
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% parameter is added to existing vector of each link [pi_i I_rflctd_i]
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% so that each link has 11 parameters
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% ----------------------------------------------------------------------
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2019-12-26 09:09:57 +00:00
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if size(q,1)==6 && size(q,2)==1 && size(qd,1)==6 && size(qd,2)==1 ...
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&& size(q2d,1)==6 && size(q2d,2)==1
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2021-10-20 09:21:43 +00:00
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Y_rgd_bdy = standard_regressor_UR10E(q,qd,q2d);
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2019-12-19 10:31:18 +00:00
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Y_mtrs = diag(q2d);
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Y = [Y_rgd_bdy(:,1:10), Y_mtrs(:,1), Y_rgd_bdy(:,11:20), Y_mtrs(:,2),...
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Y_rgd_bdy(:,21:30), Y_mtrs(:,3), Y_rgd_bdy(:,31:40), Y_mtrs(:,4),...
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Y_rgd_bdy(:,41:50), Y_mtrs(:,5), Y_rgd_bdy(:,51:60), Y_mtrs(:,6)];
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2019-12-26 09:09:57 +00:00
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else
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error('Input dimension error!')
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end
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