60 lines
2.1 KiB
Matlab
Executable File
60 lines
2.1 KiB
Matlab
Executable File
function Y_g = sym_screw_dynamics22(q,q_d,ur10)
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gamma0 = [0, 0, 9.81, 0, 0, 0]'; %gravity acceleration vector
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T_pk = sym(zeros(4,4,6)); %homogenous transformation from p to k
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invAd_pk = sym(zeros(6,6,6)); %inverse of adjoint matrix from p to k
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invAd_0k = sym(zeros(6,6,7)); invAd_0k(:,:,1) = eye(6,6);
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Jk = sym(zeros(6,6,7)); %jacobian up to body k
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% adj_pk = zeros(6,6,6);
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% adj_0k = zeros(6,6,6);
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% xi_k = zeros(6,6);
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% v_k = zeros(6,7);
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% Jk_d = zeros(6,6,7);
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% FI_k = zeros(6,6,6);
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% M = zeros(6,6);
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% C = zeros(6,6);
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G = zeros(6,1);
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g2 = zeros(6,1);
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Y_pi = zeros(6,1);
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for i = 1:1:6
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aor_k = str2num(ur10.robot.joint{i}.axis.Attributes.xyz)';
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R_pk = RPY(str2num(ur10.robot.joint{i}.origin.Attributes.rpy))*Rot(q(1),aor_k);
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p_pk = str2num(ur10.robot.joint{i}.origin.Attributes.xyz)';
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T_pk(:,:,i) = [R_pk, p_pk; zeros(1,3), 1];
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invAd_pk(:,:,i) = inv_Ad_transf(T_pk(:,:,i));
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invAd_0k(:,:,i+1) = invAd_pk(:,:,i)*invAd_0k(:,:,i);
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Jk(:,:,i+1) = invAd_pk(:,:,i)*Jk(:,:,i) + ur10.XI(:,:,i);
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% xi_k(:,i) = ur10.XI(:,:,i)*q_d;
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% v_k(:,i+1) = invAd_pk(:,:,i)*v_k(:,i) + xi_k(:,i);
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% adj_pk(:,:,i) = adj_transf(xi_k(:,i));
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% adj_0k(:,:,i) = adj_transf(v_k(:,i+1));
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% FI_k(:,:,i) = ur10.Lmbd_k(:,:,i)*adj_0k(:,:,i) - adj_0k(:,:,i)'*ur10.Lmbd_k(:,:,i);
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% Jk_d(:,:,i+1) = invAd_pk(:,:,i)*Jk_d(:,:,i) - adj_pk(:,:,i)*invAd_pk(:,:,i)*Jk(:,:,i);
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%
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% M = M + Jk(:,:,i+1)'*ur10.Lmbd_k(:,:,i)*Jk(:,:,i+1);
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% C = C + Jk(:,:,i+1)'*( FI_k(:,:,i)*Jk(:,:,i+1) + ur10.Lmbd_k(:,:,i)*Jk_d(:,:,i+1) );
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gamma_k = invAd_0k(:,:,i+1)*gamma0; %body gravitational acceleration
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G = G + Jk(:,:,i+1)'*ur10.Lmbd_k(:,:,i)*gamma_k;
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t1 = gamma_k;
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t2 = str2num(ur10.robot.link{i+1}.inertial.origin.Attributes.xyz)';
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A = [t1(1:3), vec2skewSymMat(t1(4:6)), zeros(3,6);
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zeros(3,1), -vec2skewSymMat(t1(1:3)) + vec2skewSymMat(t2)*vec2skewSymMat(t1(4:6)),...
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vec2mat_ssmat(t1(4:6))];
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dpi_k(:,:,i) = Jk(:,:,i+1)'*A;
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g2 = g2 + dpi_k(:,:,i)*ur10.pi_reg(:,i);
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end
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Y_g = reshape(dpi_k,[6,60]);
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end |