2024-01-23 13:42:25 +00:00
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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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2024-09-28 13:45:14 +00:00
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case 'SCREW'
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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.TW(:,:,j) = T;
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end
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2024-09-28 17:22:41 +00:00
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for i = 1:length(thetalist)
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2024-09-28 13:45:14 +00:00
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if i == 1
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robot.T(:,:,i) = robot.TW(:,:,i);
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else
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robot.T(:,:,i) = TransInv(robot.TW(:,:,i-1))*robot.TW(:,:,i);
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end
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end
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robot.Fkine = robot.TW(:,:,end);
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2024-01-23 13:42:25 +00:00
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case 'SDH'
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theta = robot.theta;
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alpha = robot.alpha;
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a = robot.a;
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d = robot.d;
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robot.Fkine = eye(4,4);
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ndof = length(theta); % special for MDH
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% init transform matrix
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robot.R = zeros([3,3,ndof]);
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robot.t = zeros([3,1,ndof]);
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robot.T = zeros([4,4,ndof]);
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for i = 1:ndof
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robot.R(:,:,i) = [cos(theta(i)) -sin(theta(i))*cos(alpha(i)) sin(theta(i))*sin(alpha(i));...
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sin(theta(i)) cos(theta(i))*cos(alpha(i)) -cos(theta(i))*sin(alpha(i));...
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0 sin(alpha(i)) cos(alpha(i))];
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robot.t(:,:,i) = [a(i)*cos(theta(i));a(i)*sin(theta(i));d(i)];
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Transform = eye(4,4);
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Transform(1:3,1:3) = robot.R(:,:,i);
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Transform(1:3,4) = robot.t(:,:,i);
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robot.T(:,:,i) = Transform;
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robot.Fkine = robot.Fkine*robot.T(:,:,i);
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end
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case 'MDH'
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theta = robot.theta;
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alpha = robot.alpha;
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a = robot.a;
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d = robot.d;
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robot.Fkine = eye(4,4);
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ndof = length(theta); % special for MDH
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% init transform matrix
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robot.R = zeros([3,3,ndof]);
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robot.t = zeros([3,1,ndof]);
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robot.T = zeros([4,4,ndof]);
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for i = 1:ndof
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robot.R(:,:,i) = [cos(theta(i)) -sin(theta(i)) 0;...
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sin(theta(i))*cos(alpha(i)) cos(theta(i))*cos(alpha(i)) -sin(alpha(i));...
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sin(theta(i))*sin(alpha(i)) cos(theta(i))*sin(alpha(i)) cos(alpha(i))];
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robot.t(:,:,i) = [a(i);-d(i)*sin(alpha(i));d(i)*cos(alpha(i))];
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Transform = eye(4,4);
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Transform(1:3,1:3) = robot.R(:,:,i);
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Transform(1:3,4) = robot.t(:,:,i);
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robot.T(:,:,i) = Transform;
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robot.Fkine = robot.Fkine*robot.T(:,:,i);
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end
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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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else
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switch opt.KM_method
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case 'SDH'
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case 'MDH'
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theta = robot.theta;
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alpha = robot.alpha;
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a = robot.a;
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d = robot.d;
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robot.Fkine = eye(4,4);
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ndof = length(theta); % special for MDH
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% init transform matrix
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robot.R = sym(zeros([3,3,ndof]));
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robot.t = sym(zeros([3,1,ndof]));
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robot.T = sym(zeros([4,4,ndof]));
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for i = 1:ndof
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robot.R(:,:,i) = [cos(theta(i)) -sin(theta(i)) 0;...
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sin(theta(i))*cos(alpha(i)) cos(theta(i))*cos(alpha(i)) -sin(alpha(i));...
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sin(theta(i))*sin(alpha(i)) cos(theta(i))*sin(alpha(i)) cos(alpha(i))];
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robot.t(:,:,i) = [a(i);-d(i)*sin(alpha(i));d(i)*cos(alpha(i))];
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Transform = sym(eye(4,4));
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Transform(1:3,1:3) = robot.R(:,:,i);
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Transform(1:3,4) = robot.t(:,:,i);
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robot.T(:,:,i) = Transform;
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robot.Fkine = robot.Fkine*robot.T(:,:,i);
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end
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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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