32 lines
1.0 KiB
Mathematica
32 lines
1.0 KiB
Mathematica
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function frctn = frictionRegressor(qd_fltrd)
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% ----------------------------------------------------------------------
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% The function computes friction regressor for each joint of the robot.
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% There are two models, first one is discontinous,
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% Fv*qd + Fc*sign(qd) + F0, and the second one is continous,
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% Fv*qd + Fc*tanh(qd/xi) + F0, where xi is small constant
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% ---------------------------------------------------------------------
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frctn = zeros(6,18);
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for i = 1:6
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frctn(i,3*i-2:3*i) = [qd_fltrd(i), sign(qd_fltrd(i)), 1];
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end
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% xi = 1e-4;
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% cont_Clmb_frcn = 0;
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%
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% frctn = zeros(6,3);
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% if cont_Clmb_frcn
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% for i = 1:6
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% frctn(i,:) = [qd_fltrd(i), tanh(qd_fltrd(i)/xi), 1];
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% end
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% else
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% for i = 1:6
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% frctn(i,:) = [qd_fltrd(i), sign(qd_fltrd(i)), 1];
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% end
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% end
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% for i = 1:6
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% frctn(i,3*i-2:3*i) = [qd_fltrd(i), sign(qd_fltrd(i)), 1];
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% end
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% for i = 1:6
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% frctn(i,3*i-2:3*i) = [qd_fltrd(i), tanh(qd_fltrd(i)/1e-2), 1];
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% end
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