88 lines
2.8 KiB
Mathematica
88 lines
2.8 KiB
Mathematica
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%% R1000
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N=9;
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% traj
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time = 0:0.01:2;
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f=1;
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q_J = sin(2*pi*f*time);
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qd_J = (2*pi*f)*cos(2*pi*f*time);
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qdd_J = -(2*pi*f)^2*sin(2*pi*f*time);
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zero_ = zeros(1,length(q_J));
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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 = [zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_]';
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dthetalist = [zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_]';
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ddthetalist = [zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_]';
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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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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_GC = [];
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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_GC = cat(3, Mlist_GC, 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_GC = cat(3, Mlist_GC, 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=[[0;0;1;0;0;0],...
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[0;-1;0;cross(-[0;-1;0],[0.2;0;0])]...
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[0;-1;0;cross(-[0;-1;0],[0.2+0.5;0;0])]...
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[0;-1;0;cross(-[0;-1;0],[0.2+0.5+0.45;0;0])]...
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[0;0;1;cross(-[0;0;1],[0.2+0.5+0.45+0.12;0;0])]...
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[1;0;0;cross(-[1;0;0],[0.2+0.5+0.45+0.12+0.28;0;0])]...
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[0;0;-1;cross(-[0;0;-1],[0.2+0.5+0.45+0.12+0.28;0;-0.4])]...
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[0;-1;0;cross(-[0;-1;0],[0.2+0.5+0.45+0.12+0.28;0;-0.4])]...
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[0;0;0;1;0;0]];
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Vlinear=sym(zeros(3,3));
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J=sym(zeros(6,N));
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exf=[0;0;0;0;0;0];
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for i = 1:length(q_J)
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[V1(:,:, i),Vd1(:,:, i),Adgab_mat(:,:,:,i),Fmat(:,:,i)] ...
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= InverseDynamics_debug(thetalist(i,:)', dthetalist(i,:)', ddthetalist(i,:)', ...
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[0;0;-9.8], exf, Mlist_GC, Glist, Slist);
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G(:,:,:,i) = FKinSpaceExpand(Mlist_GC, Slist, thetalist(i,:)');
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T(:,:,:,i)=FKinSpaceExpand(Mlist_ED, Slist, thetalist(i,:)');
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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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F_Simpack = pagetranspose(F_Simpack);
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figure(1)
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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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plot(time,-reshape(F_Simpack(1,i,:),[1,length(F_Simpack)]))
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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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% 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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