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add estimate

This commit is contained in:
cosmic_power 2024-04-27 19:25:02 +08:00
parent 7eedfd4a0d
commit 0926a14dfd
3 changed files with 12 additions and 3 deletions
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6
autogen/base_regressor_Two_bar.m
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@ -3,7 +3,7 @@ function out1 = base_regressor_Two_bar(in1,in2,in3)
% OUT1 = base_regressor_Two_bar(IN1,IN2,IN3) % OUT1 = base_regressor_Two_bar(IN1,IN2,IN3)
% This function was generated by the Symbolic Math Toolbox version 9.1. % This function was generated by the Symbolic Math Toolbox version 9.1.
% 14-Jan-2024 21:45:43 % 16-Feb-2024 11:59:18
q2 = in1(2,:); q2 = in1(2,:);
qd1 = in2(1,:); qd1 = in2(1,:);
@ -21,4 +21,6 @@ t9 = t4.^2;
t10 = t2.*t6; t10 = t2.*t6;
t11 = t3.*t6; t11 = t3.*t6;
t12 = -t8; t12 = -t8;
out1 = reshape([t7+t11+t2.*t5-t3.*t9,t7+t11,t10+t12-t3.*t5-t2.*t9,t10+t12,t5,t5,qdd1,0.0],[2,4]); t13 = t7+t11;
t14 = t10+t12;
out1 = reshape([t14-t3.*t5-t2.*t9,t14,t13+t2.*t5-t3.*t9,t13,t5,t5,t2.*t13+t3.*(t8-t10),0.0],[2,4]);

2
autogen/standard_regressor_Two_bar.m
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@ -3,7 +3,7 @@ function out1 = standard_regressor_Two_bar(in1,in2,in3)
% OUT1 = standard_regressor_Two_bar(IN1,IN2,IN3) % OUT1 = standard_regressor_Two_bar(IN1,IN2,IN3)
% This function was generated by the Symbolic Math Toolbox version 9.1. % This function was generated by the Symbolic Math Toolbox version 9.1.
% 14-Jan-2024 21:45:42 % 16-Feb-2024 11:59:17
q2 = in1(2,:); q2 = in1(2,:);
qd1 = in2(1,:); qd1 = in2(1,:);

7
estimate_dyn.m
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@ -12,6 +12,7 @@ qd=[qd_J; -qd_J];
qdd=[qdd_J; -qdd_J]; qdd=[qdd_J; -qdd_J];
g = [0; 0; -9.8]; g = [0; 0; -9.8];
tau = zeros([2,101]); tau = zeros([2,101]);
% pi -> [m;mc;I] 10 element
robot_pi1=[1;1/2;0;0;1+1/4;0;0;1+1/4;0;1+1/4]; robot_pi1=[1;1/2;0;0;1+1/4;0;0;1+1/4;0;1+1/4];
robot_pi2=[2;1;0;0;1+1/4;0;0;1+1/4;0;1+1/4]; robot_pi2=[2;1;0;0;1+1/4;0;0;1+1/4;0;1+1/4];
robot_pi=[robot_pi1;robot_pi2]; robot_pi=[robot_pi1;robot_pi2];
@ -76,4 +77,10 @@ robot.sol = sol;
pib_OLS=pinv(Wb)*Tau; pib_OLS=pinv(Wb)*Tau;
pifrctn_OLS = 0; pifrctn_OLS = 0;
end end
function [pib_OLS, pifrctn_OLS] = MultiLeastSquareEstimation(idntfcnTrjctry, Tau, Wb)
% Function perfroms Multi step ordinary least squares estimation of parameters
pib_OLS=pinv(Wb)*Tau;
pifrctn_OLS = 0;
end
end end