259 lines
7.9 KiB
Mathematica
259 lines
7.9 KiB
Mathematica
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%% R1000
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N=9;
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% traj
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load('pose1_isa_depth_95mm.mat');
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time = (100:size(q_log,2))/2000;
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q_J = q_log(2:10,100:end);
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qd_J = vel_log(2:10,100:end);
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qdd_J = acc_log(2:10,100:end);
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% Dynamics parameters
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link_mass = robot.m;
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com_pos = robot.com;
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link_inertia = robot.I;
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thetalist = q_J';
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dthetalist = qd_J';
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ddthetalist = qdd_J';
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%real traj
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% get_GCTraj_R1000_DVT;
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% thetalist = idntfcnTrjctry(6).q';
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% dthetalist = idntfcnTrjctry(6).qd';
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% ddthetalist = idntfcnTrjctry(6).qdd';
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% Get general mass matrix
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Glist=[];
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for i = 1:N
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link_inertia(:,:,i) = robot.Home.R(:,:,i)'*link_inertia(:,:,i)*robot.Home.R(:,:,i);
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Gb= [link_inertia(:,:,i),zeros(3,3);zeros(3,3),link_mass(i)*diag([1,1,1])];
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Glist = cat(3, Glist, Gb);
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end
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% Get the com pos transformation in each joint reference frame
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% Mlist_CG = [];
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% for i = 0:N-1
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% if i == 0
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% M = robot.T(:,:,i+1)*transl(com_pos(:,i+1));
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% else
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% M = TransInv(transl(com_pos(:,i)))*robot.T(:,:,i+1)*transl(com_pos(:,i+1));
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% end
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% Mlist_CG = cat(3, Mlist_CG, M);
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% end
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% M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
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% Mlist_CG = cat(3, Mlist_CG, M);
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% Get the com pos transformation in each joint reference frame
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% FIXME: BUG here
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% Mlist_CG=[];
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% for i = 0:N-1
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% if i == 0
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% M=robot.T(:,:,i+1)*transl(com_pos(:,i+1));
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% else
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% rotation_i = diag([1,1,1]);
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% for j = 1:i
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% rotation_i = rotation_i*TransToRp(robot.T(:,:,i));
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% rotation_j = rotation_i*TransToRp(robot.T(:,:,i+1));
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% end
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% M = TransInv(RpToTrans(rotation_i,rotation_i*com_pos(:,i)))*robot.T(:,:,i+1)*RpToTrans(rotation_j,rotation_j*com_pos(:,i+1));
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% end
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% Mlist_CG = cat(3, Mlist_CG, M);
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% end
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% M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
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% Mlist_CG = cat(3, Mlist_CG, M);
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% ct=[];
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% Mlist_CG=[];
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% for i = 1:N
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% if i == 1
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% ct(:,i) = com_pos_R1(:,i);
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% elseif i< 9
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% ct(:,i) = -com_pos_R2(:,i-1)+com_pos_R1(:,i);
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% else
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% ct(:,i) = -com_pos_R1(:,i-1)-[0;0;0.05896]+com_pos_R1(:,i);
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% end
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% robot.Home.com(:,i) = ct(:,i);
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% M = RpToTrans(robot.T(1:3,1:3,i),robot.Home.R(:,:,i)*robot.Home.com(:,i));
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% Mlist_CG = cat(3, Mlist_CG, M);
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% end
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% M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
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% Mlist_CG = cat(3, Mlist_CG, M);
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% Mlist_CG=[];
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% for i = 1:N
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% if i == 1
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% M = [diag([1,1,1]),com_pos_R1(:,i);zeros(1,3),1];
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% elseif i<=8
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% M = RpToTrans(TransToRp(robot.T(:,:,i)),robot.Home.R(:,:,i)*(-com_pos_R2(:,i-1)+com_pos_R1(:,i)));
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% elseif i==9
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% M = RpToTrans(TransToRp(robot.T(:,:,i)),robot.Home.R(:,:,i)*(-[0;0;0.05896]+com_pos_R1(:,i-1)+com_pos_R1(:,i)));
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% end
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% Mlist_CG = cat(3, Mlist_CG, M);
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% end
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% M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
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% Mlist_CG = cat(3, Mlist_CG, M);
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% get the CG at the world base frame
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com_pos_R1 = robot.com_pos_R1;
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com_pos_R2 = robot.com_pos_R2;
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ct=[];
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Mlist_CG_Base=[];
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for i = 1:N
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if i == 1
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ct(:,i) = com_pos_R1(:,i);
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elseif i< 9
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ct(:,i) = ct(:,i-1)-com_pos_R2(:,i-1)+com_pos_R1(:,i);
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else
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ct(:,i) = ct(:,i-1)-com_pos_R1(:,i-1)-[0.23;0;0.05896]+com_pos_R1(:,i);
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end
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robot.Home.com(:,i) = ct(:,i);
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M_CG_Base = RpToTrans(robot.Home.R(:,:,i),robot.Home.com(:,i));
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Mlist_CG_Base = cat(3, Mlist_CG_Base, M_CG_Base);
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end
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% get the CG at the last GC frame
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Mlist_CG=[];
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for i = 1:N
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if i == 1
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Mlist_CG(:,:,i) = Mlist_CG_Base(:,:,i);
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else
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Mlist_CG(:,:,i) = TransInv(Mlist_CG_Base(:,:,i-1))*Mlist_CG_Base(:,:,i);
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end
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end
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M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
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Mlist_CG = cat(3, Mlist_CG, M);
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% Get the end efforce transformation in each joint reference frame
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Mlist_ED = [];
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for i = 1:N
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M = robot.T(:,:,i);
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Mlist_ED = cat(3, Mlist_ED, M);
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end
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M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
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Mlist_ED = cat(3, Mlist_ED, M);
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%TODO: Get Slist form DH table method
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% RRRRRRRRP
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Slist=robot.slist;
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exf=[0;0;0;0;1;0];
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for i = 1:length(thetalist)
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[V1(:,:, i),Vd1(:,:, i),Adgab_mat(:,:,:,i),Fmat(:,:,i),taumat(:,i)] ...
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= InverseDynamics_debug(thetalist(i,:)', dthetalist(i,:)', ddthetalist(i,:)', ...
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[0;0;-9.806], exf, Mlist_CG, Glist, Slist);
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% [0;0;-9.806], exf, Mlist_CG, Glist, Slist);
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G(:,:,:,i) = FKinSpaceExpand(Mlist_CG, Slist, thetalist(i,:)');
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T(:,:,:,i)=FKinSpaceExpand(Mlist_ED, Slist, thetalist(i,:)');
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%Want to get the result from TC_delta, which means F at CG represent under frame at the last origin
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%why we need Mlist_ED
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%please explain this more
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F_Simpack(:,:,i) = getSimpackF(G(:,:,:,i),T(:,:,:,i),Mlist_ED,Fmat(:,:,i));
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end
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% plot Torque
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% above 2020b
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% F_Simpack = pagetranspose(F_Simpack);
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% below 2020b
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% for i = 1:3
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% subplot(3,1,i);
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% hold on;
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% %added minus, so should be the same as simpack
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% plot(time,taumat(i+6,:))
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% xlabel('time(s)')
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% ylabel('Torque(Nm)')
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% % plot(SPCK_Result.Crv(i+4).x,SPCK_Result.Crv(i+4).y)
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% end
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F_Simpack = permute(F_Simpack,[2 1 3]);
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F_Simpack = -F_Simpack;
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% 确保输出文件夹存在
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output_main = 'output';
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output_sub = fullfile(output_main, 'pose1_isa_depth_95mm');
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if ~exist(output_main, 'dir')
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mkdir(output_main);
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end
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if ~exist(output_sub, 'dir')
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mkdir(output_sub);
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end
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% 获取时间序列长度
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n_time = size(F_Simpack, 3);
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% 遍历所有关节（1到8）
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for joint_idx = 1:8
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fig = figure('Position', [100, 100, 1000, 900]); % 创建大尺寸图形窗口
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% 遍历三个力矩分量
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for comp_idx = 1:3
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subplot(3, 1, comp_idx);
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hold on;
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% 提取并处理数据（取负值以匹配Simpack约定）
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data = -squeeze(F_Simpack(joint_idx, comp_idx, :));
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% 绘制力矩曲线
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plot(time, data, 'LineWidth', 1.5);
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% 计算并标注最大绝对值（峰值）
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[abs_max, max_idx] = max(abs(data)); % 找到最大绝对值
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peak_value = data(max_idx); % 对应的实际值（带符号）
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% 标记峰值点
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plot(time(max_idx), peak_value, 'ro', 'MarkerSize', 8, 'LineWidth', 2);
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% 创建标注文本
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text_str = sprintf('Peak: %.2f Nm (|%.2f|)', peak_value, abs_max);
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% 确定文本位置（避免重叠）
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y_range = ylim;
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y_offset = 0.05 * (y_range(2) - y_range(1));
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if peak_value >= 0
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text_pos = [time(max_idx), peak_value - y_offset];
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vert_align = 'top';
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else
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text_pos = [time(max_idx), peak_value + y_offset];
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vert_align = 'bottom';
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end
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% 添加文本标注
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text(text_pos(1), text_pos(2), text_str, ...
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'VerticalAlignment', vert_align, 'HorizontalAlignment', 'center', ...
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'FontSize', 10, 'BackgroundColor', 'white', 'EdgeColor', 'black');
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% 添加标签和网格
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switch comp_idx
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case 1
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title('Bending Moment (M_x)');
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case 2
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title('Bending Moment (M_y)');
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case 3
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title('Torque (M_z)');
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end
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xlabel('Time [s]');
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ylabel('Moment [Nm]');
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grid on;
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box on;
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end
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% 添加总标题
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sgtitle(sprintf('Joint %d - Moment Components (Peak Values)', joint_idx), ...
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'FontSize', 14, 'FontWeight', 'bold');
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% 保存图形
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saveas(fig, fullfile(output_sub, sprintf('joint_%d.png', joint_idx)));
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close(fig); % 关闭图形释放内存
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end
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disp('所有关节图表已保存至 output/pose2_isa_depth_95mm 文件夹');
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% Use Body Twist cal linear vel, but can't cal the end frame vel
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% [V2] = InverseDynamics_sym(thetalist, dthetalist, ddthetalist, ...
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% [0;0;0], exf, Mlist, Glist, Slist);
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% j=1;
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% Vlinear(:, j+1) = BodyVelToLinearVel(V2(:,j+1),G(:,:,j)*M12);
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% j=2;
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% Vlinear(:, j+1) = BodyVelToLinearVel(V2(:,j+1),G(:,:,j)*M23);
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