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removed small bug in experiment design script

This commit is contained in:
shamil 2021-11-16 15:29:33 +01:00
parent 174ccbd315
commit 11af40e7de
1 changed files with 0 additions and 20 deletions
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experiment_design.m
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@ -22,25 +22,6 @@ include_motor_dynamics = 1;
% Choose optimization algorithm: 'patternsearch', 'ga' % Choose optimization algorithm: 'patternsearch', 'ga'
optmznAlgorithm = 'patternsearch'; optmznAlgorithm = 'patternsearch';
% Getting limits on posistion and velocities. Moreover we get some
% constant parmeters of the robot that allow us to accelerate computation
% of the robot regressor.
q_min = zeros(6,1); q_max = zeros(6,1); qd_max = zeros(6,1);
for i = 1:6
rot_axes(:,i) = str2num(ur10.robot.joint{i}.axis.Attributes.xyz)';
R_pj = RPY(str2num(ur10.robot.joint{i}.origin.Attributes.rpy));
p_pj = str2num(ur10.robot.joint{i}.origin.Attributes.xyz)';
T_pj(:,:,i) = [R_pj, p_pj; zeros(1,3), 1];
r_com(:,i) = str2num(ur10.robot.link{i+1}.inertial.origin.Attributes.xyz)';
q_min(i) = str2double(ur10.robot.joint{i}.limit.Attributes.lower);
q_max(i) = str2double(ur10.robot.joint{i}.limit.Attributes.upper);
qd_max(i) = str2double(ur10.robot.joint{i}.limit.Attributes.velocity);
end
ur10.rot_axes = rot_axes; % axis of rotation of each joint
ur10.T_pj = T_pj;
ur10.r_com = r_com;
% Trajectory parameters % Trajectory parameters
traj_par.T = 25; % period of signal traj_par.T = 25; % period of signal
traj_par.wf = 2*pi/traj_par.T; % fundamental frequency traj_par.wf = 2*pi/traj_par.T; % fundamental frequency
@ -63,7 +44,6 @@ lb = []; ub = [];
if strcmp(optmznAlgorithm, 'patternsearch') if strcmp(optmznAlgorithm, 'patternsearch')
x0 = rand(6*2*traj_par.N,1); x0 = rand(6*2*traj_par.N,1);
x0 = reshape([a b], [6*2*traj_par.N, 1]);
optns_pttrnSrch = optimoptions('patternsearch'); optns_pttrnSrch = optimoptions('patternsearch');
optns_pttrnSrch.Display = 'iter'; optns_pttrnSrch.Display = 'iter';
optns_pttrnSrch.StepTolerance = 1e-1; optns_pttrnSrch.StepTolerance = 1e-1;