74 lines
2.2 KiB
Mathematica
74 lines
2.2 KiB
Mathematica
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% 加载数据文件
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load('idntfcnTrjctryCell_full2.mat');
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% 获取数据矩阵
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data = idntfcnTrjctryCell{7,1};
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[num_samples, ~] = size(data);
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% 定义关节列索引
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joint_cols = 105:3:126; % J1到J8的列索引 (105,108,111,...,126)
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% 创建时间向量（采样频率2000 Hz）
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t = (0:num_samples-1)' / 2000; % 单位为秒
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% 循环处理每个关节
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for joint_idx = 1:8
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% 创建新图形窗口
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fig = figure('Position', [100, 100, 800, 500], 'Color', 'white');
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% 获取当前关节的数据
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col = joint_cols(joint_idx);
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if joint_idx == 8
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torque = data(:, joint_cols(joint_idx-1)+2);
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else
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torque = data(:, joint_cols(joint_idx));
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end
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% 计算最大绝对扭矩值及其位置
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[max_abs, max_idx] = max(abs(torque));
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max_time = t(max_idx);
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max_value = torque(max_idx);
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% 绘制力矩曲线
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plot(t, torque, 'b-', 'LineWidth', 1.5);
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% 标记最大绝对值点
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hold on;
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plot(max_time, max_value, 'ro', 'MarkerSize', 10, 'LineWidth', 2);
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% 在右上角添加标注文本
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annotation_text = sprintf('Max Abs Torque: %.3f Nm\\nAt Time: %.3f s', max_abs, max_time);
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text(0.98, 0.98, annotation_text, ...
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'Units', 'normalized', ...
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'VerticalAlignment', 'top', ...
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'HorizontalAlignment', 'right', ...
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'FontSize', 12, ...
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'BackgroundColor', [1 1 1 0.7], ...
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'Margin', 5, ...
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'EdgeColor', 'k');
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% 设置图形属性
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title(sprintf('J%d Torque vs Time', joint_idx), 'FontSize', 16, 'FontWeight', 'bold');
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xlabel('Time (s)', 'FontSize', 14);
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ylabel('Torque (Nm)', 'FontSize', 14);
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grid on;
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% 设置坐标轴范围
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% xlim([min(t), max(t)]);
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% y_range = max_abs * 1.3; % 基于最大绝对值设置Y轴范围
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% ylim([-y_range, y_range]);
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% 添加采样率信息
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text(0.98, 0.02, 'Sampling Rate: 2000 Hz', ...
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'Units', 'normalized', ...
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'FontSize', 10, ...
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'HorizontalAlignment', 'right', ...
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'BackgroundColor', [1 1 1 0.5]);
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% 保存图形为PNG文件
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filename = sprintf('Torque_joint_%d.png', joint_idx);
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saveas(fig, filename);
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fprintf('Saved: %s\n', filename);
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% 关闭图形
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close(fig);
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end
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