73 lines
2.8 KiB
Mathematica
73 lines
2.8 KiB
Mathematica
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function robot = get_Kinematics(robot, opt)
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if(opt.Isreal)
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switch opt.KM_method
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case 'SCREW'
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% Get transformation for each joint
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thetalist = robot.theta;
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Slist = robot.slist;
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% TODO:move to lib
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for j = 1:length(thetalist)
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T=robot.Home.M(:,:,j);
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for i = j: -1: 1
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T = MatrixExp6(VecTose3(Slist(:, i) * thetalist(i))) * T;
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end
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robot.kine.TW(:,:,j) = T;
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end
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for i = 1:length(thetalist)
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if i == 1
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robot.kine.T(:,:,i) = robot.kine.TW(:,:,i);
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else
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robot.kine.T(:,:,i) = TransInv(robot.kine.TW(:,:,i-1))*robot.kine.TW(:,:,i);
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end
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end
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%stack result into kine structure
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robot.kine.R = robot.kine.T(1:3,1:3,:);
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robot.kine.t = robot.kine.T(1:3,4,:);
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robot.kine.Fkine = robot.kine.TW(:,:,end);
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% get the CG at the world base frame
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% FIXME: Fix this hack
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ct=zeros(3,robot.ndof);
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Mlist_CG_Base=zeros(4,4,10);
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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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for i = 1:length(thetalist)
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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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else
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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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% % HACK
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% ct(:,i) = ct(:,i-1)-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_CG_Base = RpToTrans(robot.Home.R(:,:,i),robot.Home.com(:,i));
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Mlist_CG_Base(:,:,i) = M_CG_Base;
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end
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robot.kine.Mlist_CG_Base = Mlist_CG_Base;
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% get the CG at the last GC frame
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Mlist_CG = zeros(4,4,9);
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for i = 1:length(thetalist)
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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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robot.kine.Mlist_CG = Mlist_CG;
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% Get the end efforce transformation in each joint reference frame
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Mlist_ED = zeros(4,4,9);
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for i = 1:length(thetalist)
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Mlist_ED(:,:,i) = robot.kine.T(:,:,i);
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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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robot.kine.Mlist_ED = Mlist_ED;
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otherwise
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disp('Bad opt.KM_method!')
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return;
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end
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end
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