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Dynamic-Calibration/planar2DOF/full_regressor_plnr.m

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added file that check if optimized trajectory collides with table on which the robot is fixed. Moreover kinematics of UR is derived is analytical form, so it can be used in trajectory optimization in order to stay away from table, however is considerably slows down the optimization. Even on sever with 40 cpus patter search computes it for hours. Moreover, added files for identification of the pendubot.
2020-02-05 04:55:09 +00:00
function Y = full_regressor_plnr(in1,in2,in3)
%FULL_REGRESSOR_PLNR
% Y = FULL_REGRESSOR_PLNR(IN1,IN2,IN3)
% This function was generated by the Symbolic Math Toolbox version 8.2.
indeitification of UR is changed and writeen in terms of functions in order to ease comparison of different data and drive gains. Pendubot indentification is changed to include validation with parameters from CAD
2020-02-07 12:07:15 +00:00
% 07-Feb-2020 10:59:41
added file that check if optimized trajectory collides with table on which the robot is fixed. Moreover kinematics of UR is derived is analytical form, so it can be used in trajectory optimization in order to stay away from table, however is considerably slows down the optimization. Even on sever with 40 cpus patter search computes it for hours. Moreover, added files for identification of the pendubot.
2020-02-05 04:55:09 +00:00
q1 = in1(1,:);
q2 = in1(2,:);
q2d1 = in3(1,:);
q2d2 = in3(2,:);
qd1 = in2(1,:);
qd2 = in2(2,:);
t2 = sin(1.5708);
t3 = cos(q2);
t4 = sin(q2);
t5 = cos(q1);
t6 = sin(q1);
t7 = qd2.^2;
indeitification of UR is changed and writeen in terms of functions in order to ease comparison of different data and drive gains. Pendubot indentification is changed to include validation with parameters from CAD
2020-02-07 12:07:15 +00:00
t8 = q2d1+q2d2;
t9 = t2.*t3.*t5.*(9.81e2./1.0e2);
t10 = qd1.^2;
Y = reshape([0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,q2d1,0.0,t2.*t5.*(9.81e2./1.0e2),0.0,t2.*t6.*(-9.81e2./1.0e2),0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,t8,t8,t9+(q2d1.*t3)./2.0+(q2d2.*t3)./4.0-(t4.*t7)./4.0-(qd1.*qd2.*t4)./2.0-t2.*t4.*t6.*(9.81e2./1.0e2),t9+(q2d1.*t3)./4.0+(t4.*t10)./4.0-t2.*t4.*t6.*(9.81e2./1.0e2),q2d1.*t4.*(-1.0./2.0)-(q2d2.*t4)./4.0-(t3.*t7)./4.0-(qd1.*qd2.*t3)./2.0-t2.*t3.*t6.*(9.81e2./1.0e2)-t2.*t4.*t5.*(9.81e2./1.0e2),q2d1.*t4.*(-1.0./4.0)+(t3.*t10)./4.0-t2.*t3.*t6.*(9.81e2./1.0e2)-t2.*t4.*t5.*(9.81e2./1.0e2),0.0,0.0,q2d1./1.6e1+t2.*t5.*(9.81e2./4.0e2),0.0],[2,20]);