14 lines
815 B
Matlab
14 lines
815 B
Matlab
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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Y_rgd_bdy = full_regressor_UR10E(q,qd,q2d);
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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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end |