15 lines
723 B
Mathematica
15 lines
723 B
Mathematica
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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% test mass calculation function
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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% dynamicBasicInfo = get_PSA_robot_arm_dynamic_basic_info();
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dynamicBasicInfo = get_robot_arm_dynamic_basic_info();
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% theta = zeros(9,1);
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theta = [0;-pi/3;2*pi/3;-pi/3;pi/2;-pi/2;0;0;0];
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rotInfo = calculateArmRot(dynamicBasicInfo,theta);
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jaco = calculateJacobian(dynamicBasicInfo,...
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rotInfo,...
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theta);
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[massMatrix,~,gravityForce] = calculateMassMatrix(dynamicBasicInfo,...
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0,...
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jaco);
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