diff --git a/Identification_main.m b/Identification_main.m index b06966b..f95dfe1 100644 --- a/Identification_main.m +++ b/Identification_main.m @@ -10,13 +10,13 @@ opt.reGenerate = false; opt.Isreal = true; robot = get_robot_R1000(file,opt); -% robot = get_Kinematics(robot, opt); +robot = get_Kinematics(robot, opt); R1000_Dynamics_num; % R1000_Dynamics; % getGravityForce; -% robot = get_velocity(robot, opt); -% robot = get_regressor(robot,opt); +robot = get_velocity(robot, opt); +robot = get_regressor(robot,opt); % symbol matched % verify_regressor_R1000; % robot = get_baseParams(robot, opt); diff --git a/R1000_Dynamics_num.m b/R1000_Dynamics_num.m index 9f9db2f..33a9fd7 100644 --- a/R1000_Dynamics_num.m +++ b/R1000_Dynamics_num.m @@ -13,17 +13,17 @@ link_mass = robot.m; com_pos = robot.com; link_inertia = robot.I; -thetalist = [zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_]'; -dthetalist = [zero_;q_J;zero_;zero_;zero_;zero_;zero_;zero_;zero_]'; -ddthetalist = [zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_]'; +thetalist = [zero_;zero_;q_J;q_J;zero_;zero_;zero_;zero_;zero_]'; +dthetalist = 1000*[q_J;q_J;q_J;q_J;q_J;q_J;q_J;q_J;q_J]'; +ddthetalist = 1000*[q_J;q_J;q_J;q_J;q_J;q_J;q_J;q_J;q_J]'; % Get general mass matrix -% Glist=[]; -% for i = 1:N -% link_inertia(:,:,i) = robot.Home.R(:,:,i)'*link_inertia(:,:,i)*robot.Home.R(:,:,i); -% Gb= [link_inertia(:,:,i),zeros(3,3);zeros(3,3),link_mass(i)*diag([1,1,1])]; -% Glist = cat(3, Glist, Gb); -% end +Glist=[]; +for i = 1:N + link_inertia(:,:,i) = robot.Home.R(:,:,i)'*link_inertia(:,:,i)*robot.Home.R(:,:,i); + Gb= [link_inertia(:,:,i),zeros(3,3);zeros(3,3),link_mass(i)*diag([1,1,1])]; + Glist = cat(3, Glist, Gb); +end % Get the com pos transformation in each joint reference frame % Mlist_CG = []; @@ -89,43 +89,43 @@ ddthetalist = [zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_]'; % Mlist_CG = cat(3, Mlist_CG, M); % get the CG at the world base frame -% com_pos_R1 = robot.com_pos_R1; -% com_pos_R2 = robot.com_pos_R2; -% ct=[]; -% Mlist_CG_Base=[]; -% for i = 1:N -% if i == 1 -% ct(:,i) = com_pos_R1(:,i); -% else -% ct(:,i) = ct(:,i-1)-com_pos_R2(:,i-1)+com_pos_R1(:,i); -% % else -% % ct(:,i) = ct(:,i-1)-com_pos_R1(:,i-1)-[0;0;0.05896]+com_pos_R1(:,i); -% end -% robot.Home.com(:,i) = ct(:,i); -% M_CG_Base = RpToTrans(robot.Home.R(:,:,i),robot.Home.com(:,i)); -% Mlist_CG_Base = cat(3, Mlist_CG_Base, M_CG_Base); -% end -% % get the CG at the last GC frame -% Mlist_CG=[]; -% for i = 1:N -% if i == 1 -% Mlist_CG(:,:,i) = Mlist_CG_Base(:,:,i); -% else -% Mlist_CG(:,:,i) = TransInv(Mlist_CG_Base(:,:,i-1))*Mlist_CG_Base(:,:,i); -% end -% end -% M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]]; -% Mlist_CG = cat(3, Mlist_CG, M); -% -% -% % Get the end efforce transformation in each joint reference frame -% Mlist_ED = []; -% for i = 1:N -% M = robot.T(:,:,i); -% Mlist_ED = cat(3, Mlist_ED, M); -% end -% M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]]; -% Mlist_ED = cat(3, Mlist_ED, M); +com_pos_R1 = robot.com_pos_R1; +com_pos_R2 = robot.com_pos_R2; +ct=[]; +Mlist_CG_Base=[]; +for i = 1:N + if i == 1 + ct(:,i) = com_pos_R1(:,i); + elseif i< 9 + ct(:,i) = ct(:,i-1)-com_pos_R2(:,i-1)+com_pos_R1(:,i); + else + ct(:,i) = ct(:,i-1)-com_pos_R1(:,i-1)-[0;0;0.05896]+com_pos_R1(:,i); + end + robot.Home.com(:,i) = ct(:,i); + M_CG_Base = RpToTrans(robot.Home.R(:,:,i),robot.Home.com(:,i)); + Mlist_CG_Base = cat(3, Mlist_CG_Base, M_CG_Base); +end +% get the CG at the last GC frame +Mlist_CG=[]; +for i = 1:N + if i == 1 + Mlist_CG(:,:,i) = Mlist_CG_Base(:,:,i); + else + Mlist_CG(:,:,i) = TransInv(Mlist_CG_Base(:,:,i-1))*Mlist_CG_Base(:,:,i); + end +end +M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]]; +Mlist_CG = cat(3, Mlist_CG, M); + + +% Get the end efforce transformation in each joint reference frame +Mlist_ED = []; +for i = 1:N + M = robot.T(:,:,i); + Mlist_ED = cat(3, Mlist_ED, M); +end +M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]]; +Mlist_ED = cat(3, Mlist_ED, M); %TODO: Get Slist form DH table method % RRRRRRRRP @@ -136,42 +136,40 @@ J=sym(zeros(6,N)); exf=[0;0;0;0;0;0]; for i = 1:length(q_J) - Js(:,:,i) = JacobianSpace(Slist, thetalist(i,:)'); - VV = Js(:,:,i)*dthetalist(i,:)'; -% [V1(:,:, i),Vd1(:,:, i),Adgab_mat(:,:,:,i),Fmat(:,:,i),taumat(:,i)] ... -% = InverseDynamics_debug(thetalist(i,:)', dthetalist(i,:)', ddthetalist(i,:)', ... -% [0;0;-9.806], exf, Mlist_CG, Glist, Slist); -% G(:,:,:,i) = FKinSpaceExpand(Mlist_CG, Slist, thetalist(i,:)'); -% T(:,:,:,i)=FKinSpaceExpand(Mlist_ED, Slist, thetalist(i,:)'); -% %Want to get the result from TC_delta, which means F at CG represent under frame at the last origin -% %why we need Mlist_ED -% %please explain this more -% F_Simpack(:,:,i) = getSimpackF(G(:,:,:,i),T(:,:,:,i),Mlist_ED,Fmat(:,:,i)); + [V1(:,:, i),Vd1(:,:, i),Adgab_mat(:,:,:,i),Fmat(:,:,i),taumat(:,i)] ... + = InverseDynamics_debug(thetalist(i,:)', dthetalist(i,:)', ddthetalist(i,:)', ... + [0;0;-9.806], exf, Mlist_CG, Glist, Slist); + G(:,:,:,i) = FKinSpaceExpand(Mlist_CG, Slist, thetalist(i,:)'); + T(:,:,:,i)=FKinSpaceExpand(Mlist_ED, Slist, thetalist(i,:)'); + %Want to get the result from TC_delta, which means F at CG represent under frame at the last origin + %why we need Mlist_ED + %please explain this more + F_Simpack(:,:,i) = getSimpackF(G(:,:,:,i),T(:,:,:,i),Mlist_ED,Fmat(:,:,i)); end % plot Torque % above 2020b % F_Simpack = pagetranspose(F_Simpack); % below 2020b -% for i = 1:3 -% subplot(3,1,i); -% hold on; -% %added minus, so should be the same as simpack -% plot(time,taumat(i+6,:)) -% xlabel('time(s)') -% ylabel('Torque(Nm)') -% % plot(SPCK_Result.Crv(i+4).x,SPCK_Result.Crv(i+4).y) -% end -% -% F_Simpack = permute(F_Simpack,[2 1 3]); -% figure(2) -% for i = 1:3 -% subplot(3,1,i); -% hold on; -% %added minus, so should be the same as simpack -% plot(time,-reshape(F_Simpack(8,i,:),[1,length(F_Simpack)])) -% % plot(SPCK_Result.Crv(i+4).x,SPCK_Result.Crv(i+4).y) -% end +for i = 1:3 + subplot(3,1,i); + hold on; + %added minus, so should be the same as simpack + plot(time,taumat(i+6,:)) + xlabel('time(s)') + ylabel('Torque(Nm)') +% plot(SPCK_Result.Crv(i+4).x,SPCK_Result.Crv(i+4).y) +end + +F_Simpack = permute(F_Simpack,[2 1 3]); +figure(2) +for i = 1:3 + subplot(3,1,i); + hold on; + %added minus, so should be the same as simpack + plot(time,-reshape(F_Simpack(8,i,:),[1,length(F_Simpack)])) +% plot(SPCK_Result.Crv(i+4).x,SPCK_Result.Crv(i+4).y) +end % Use Body Twist cal linear vel, but can't cal the end frame vel % [V2] = InverseDynamics_sym(thetalist, dthetalist, ddthetalist, ... diff --git a/get_robot_R1000.asv b/get_robot_R1000.asv deleted file mode 100644 index fffbf13..0000000 --- a/get_robot_R1000.asv +++ /dev/null @@ -1,256 +0,0 @@ -function robot = get_robot_R1000(file,opt) -switch opt.robot_def - case 'direct' - ndof = 9; - robot.ndof = ndof; - % ------------------------------------------------------------------------ - % Dynamics parameters - % ------------------------------------------------------------------------ - link_mass = [2.1315260e+01,1.9235354e+01,1.0463871e+01,6.1538806,3.0882893,2.4450941,3.6376589,1.7005420,9.1507819e-1]; - % DVT -% link_mass = [17.42,7.7,2.42,5.19,2.22,1.8,2.31,1.73,1.2]; - %TODO in process, seems axis_of_rot useless - axis_of_rot(:,1) = [0;0;1]; - axis_of_rot(:,2) = [0;-1;0]; - axis_of_rot(:,3) = [0;-1;0]; - axis_of_rot(:,4) = [0;-1;0]; - axis_of_rot(:,5) = [0;0;1]; - axis_of_rot(:,6) = [1;0;0]; - axis_of_rot(:,7) = [0;0;-1]; - axis_of_rot(:,8) = [0;-1;0]; - axis_of_rot(:,9) = [0;0;0]; - - %DVT -% com_pos_R1(:,1)=[9.7435250e+01 8.3517655e-01 1.2246547e+02]'*10^-3; -% com_pos_R2(:,1)=[-1.0040117e+02 -9.4164823e+01 -3.4522260e+01]'*10^-3; -% com_pos_R1(:,2)=[3.7345395e+02 -5.5328829e+01 -4.4313141e-02]'*10^-3; -% com_pos_R2(:,2)=[ -1.2654643e+02 9.6371171e+01 -4.4094190e-02]'*10^-3; -% com_pos_R1(:,3)=[1.8811711e+02 -7.9651429e+00 -4.9225523e-04 ]'*10^-3; -% com_pos_R2(:,3)=[-2.6188289e+02 2.8348571e+00 -4.9225523e-04 ]'*10^-3; -% com_pos_R1(:,4)=[ 5.4048685e+01 5.8463901e+01 -5.0915631e+00 ]'*10^-3; -% com_pos_R2(:,4)=[ -6.5951315e+01 -9.0360991e+00 5.2908437e+01]'*10^-3; -% com_pos_R1(:,5)=[1.3028528e+02 4.8953539e-02 4.6198421e+01]'*10^-3; -% com_pos_R2(:,5)=[-9.5814715e+01 4.8953539e-02 -1.2301579e+01 ]'*10^-3; -% com_pos_R1(:,6)=[4.9059639e+01 5.9928547e-02 -2.8858572e+01]'*10^-3; -% com_pos_R2(:,6)=[-4.7403608e+00 5.9928547e-02 6.2741428e+01]'*10^-3; -% com_pos_R1(:,7)=[2.3210318e-02 -9.5031144e+00 -1.0242124e+02]'*10^-3; -% com_pos_R2(:,7)=[2.3210318e-02 -9.5031144e+00 2.0257876e+02 ]'*10^-3; -% com_pos_R1(:,8)=[-3.6571935e+01 -3.6282658e-01 -4.7124267e+01]'*10^-3; -% com_pos_R2(:,8)=[2.2355855e+02 -3.6281380e-01 1.4875409e+01]'*10^-3; % don't use -% com_pos_R1(:,9)=[-9.6776846e-02 1.4179201e-01 -3.4242667e+01]'*10^-3; - - com_pos_R1(:,1)=[ 1.0440117e+02 -1.1125559e+01 1.2822933e+02]'*1e-3; - com_pos_R2(:,1)=[-8.0598830e+01 -4.2225559e+01 -1.5870672e+01]'*1e-3; - com_pos_R1(:,2)=[ 3.5562148e+02 1.2378198e+01 1.8395830e-03]'*1e-3; - com_pos_R2(:,2)=[-2.4437852e+02 9.4778198e+01 1.8395830e-03]'*1e-3; - com_pos_R1(:,3)=[2.4798242e+02 -3.5267916e+01 4.8648267e-02]'*1e-3; - com_pos_R2(:,3)=[-3.5201758e+02 -2.9007916e+01 4.8648266e-02]'*1e-3; - com_pos_R1(:,4)=[ 4.2341069e+01 5.2603527e+01 1.2271365e+01]'*1e-3; - com_pos_R2(:,4)=[-7.7658931e+01 -1.2956223e+01 1.9271365e+01]'*1e-3; - com_pos_R1(:,5)=[1.0177553e+02 -3.4868152e-02 1.5686100e+00]'*1e-3; - com_pos_R2(:,5)=[-1.0372447e+02 -3.9239008e-02 -5.4313602e+00]'*1e-3; - com_pos_R1(:,6)=[5.9942347e+01 -4.8346177e-02 5.5784018e+00]'*1e-3; - com_pos_R2(:,6)=[-2.3757653e+01 -4.8346177e-02 4.0028402e+01]'*1e-3; - com_pos_R1(:,7)=[4.9494392e-02 -2.4240394e+00 -1.0332489e+02]'*1e-3; - com_pos_R2(:,7)=[4.9494392e-02 -2.4240394e+00 2.7222511e+02]'*1e-3; - com_pos_R1(:,8)=[-2.7158498e+01 -3.3865875e-01 -4.6588829e+01]'*1e-3; - com_pos_R2(:,8)=[ 2.2423433e+02 -3.3865729e-01 1.9671171e+01]'*1e-3; % don't use - com_pos_R1(:,9)=[-1.9853197e+01 1.9076829e-01 -3.0075564e+01]'*1e-3; - % stack result - robot.com_pos_R1 = com_pos_R1; - robot.com_pos_R2 = com_pos_R2; - % FIXME:fix this hack - % Get 3D coordinate of CO - co=[]; - for i = 1:8 - if i == 1 - co(:,i) = com_pos_R1(:,i)-com_pos_R2(:,i); - else - %From base to ISA Origin - co(:,i) = co(:,i-1)+com_pos_R1(:,i)-com_pos_R2(:,i); -% else -% %From base to ISA Origin -% co(:,i) = co(:,i-1)-[0;0;0.05896]; - end - end - co = [zeros(3,1),co]; - % the inertia tensor wrt the frame oriented as the body frame and with the - % origin in the COM - link_inertia(:,:,1) = [[1.1212091e+05 -1.1694021e+04 -4.7186593e+04];... - [-1.1694021e+04 2.3289532e+05 -3.0395414e+02];... - [-4.7186593e+04 -3.0395414e+02 2.0033875e+05]]*10^-6; - link_inertia(:,:,2) = [[3.7926328e+04 -9.0569033e+01 4.7526575e+04];... - [-9.0569033e+01 2.9714754e+05 6.8396715e+00];... - [4.7526575e+04 6.8396715e+00 2.8138392e+05]]*10^-6; - link_inertia(:,:,3) = [[4.4513887e+03 1.9981964e-01 -3.0303891e+02];... - [1.9981964e-01 6.7952039e+04 -8.8585864e-02];... - [-3.0303891e+02 -8.8585864e-02 6.9958344e+04]]*10^-6; - link_inertia(:,:,4) = [[1.1642351e+04 2.2997175e+03 2.9159431e+03];... - [2.2997175e+03 2.6031269e+04 -1.3518384e+02];... - [2.9159431e+03 -1.3518384e+02 2.4694742e+04]]*10^-6; - link_inertia(:,:,5) = [[3.0930544e+03 8.3558814e-01 -2.8169092e+03];... - [8.3558814e-01 1.2796446e+04 -3.3666469e+00];... - [-2.8169092e+03 -3.3666469e+00 1.2128856e+04]]*10^-6; - link_inertia(:,:,6) = [[3.6635776e+03 -7.0081461e+00 2.2392870e+00];... - [-7.0081461e+00 1.8152305e+03 -2.4828765e+02];... - [2.2392870e+00 -2.4828765e+02 3.4602935e+03]]*10^-6; - link_inertia(:,:,7) = [[1.3662652e+04 -3.6340953e+00 4.4011670e-01];... - [-3.6340953e+00 1.3222824e+04 -4.3625500e+02];... - [ 4.4011670e-01 -4.3625500e+02 2.2500397e+03]]*10^-6; - link_inertia(:,:,8) = [[1.5162872e+03 -4.6245133e+01 4.4556929e+03];... - [-4.6245133e+01 5.9901606e+04 6.0350548e+0];... - [4.4556929e+03 6.0350548e+0 5.8819998e+04]]*10^-6; - link_inertia(:,:,9) = [[1.1730106e+03 3.3834506e+0 4.6097678e+01];... - [3.3834506e+0 1.7996852e+03 5.2088778e+0];... - [4.6097678e+01 5.2088778e+0 1.3960734e+03]]*10^-6; - % verify if link_inertia is issymmetric - for i = 1:ndof - if(issymmetric(link_inertia(:,:,i))==false) - fprintf('Bad definition of inertia matrix %d\n',i) - return; - end - end - % manipulator regressor - com_pos = com_pos_R1; - for i = 1:ndof - robot.m(i) = link_mass(i); - robot.axis(:,i) = axis_of_rot(i); - robot.com(:,i) = com_pos(:,i); - robot.I(:,:,i) = link_inertia(:,:,i); - robot.mc(:,i) = link_mass(i)*com_pos(:,i); - % the inertia tensor wrt the frame oriented as the body frame and with the - % origin in the Joint i - com_vec2mat = vec2skewSymMat(com_pos(:,i)); - robot.I_vec(:,i) = inertiaMatrix2Vector(link_inertia(:,:,i)-... - link_mass(i)*com_vec2mat*com_vec2mat); - robot.pi(:,i) = [robot.m(i);robot.mc(:,i);robot.I_vec(:,i)]; - end - % ------------------------------------------------------------------------ - % Kinematics parameters - % ------------------------------------------------------------------------ - if(opt.Isreal) - %FIXME: only consider the theta temply - robot.dtheta = zeros([ndof,1]); - robot.ddtheta = zeros([ndof,1]); - robot.link_type = ['R','R','R','R','R','R','R','R','P']; - switch opt.KM_method - case 'SDH' - case 'MDH' - robot.theta = [0,0,0,0,-pi/2,0,-pi/2,-pi/2,0]; - robot.a = [0,0.2,0.5,0.45,0.12,0,0,0, 0.05896]; - robot.d = [0,0,0,0,0,0.28,0.40,0,0]; - robot.alpha = [0,pi/2,0,0,-pi/2,-pi/2,-pi/2,-pi/2,-pi/2]; - case 'SCREW' -% robot.Home.R(:,:,1) = [[1;0;0],[0;1;0],[0;0;1]]; -% robot.Home.R(:,:,2) = [[1;0;0],[0;0;1],[0;-1;0]]; -% robot.Home.R(:,:,3) = [[1;0;0],[0;0;1],[0;-1;0]]; -% robot.Home.R(:,:,4) = [[1;0;0],[0;0;1],[0;-1;0]]; -% robot.Home.R(:,:,5) = [[0;-1;0],[1;0;0],[0;0;1]]; -% robot.Home.R(:,:,6) = [[0;-1;0],[0;0;-1],[1;0;0]]; -% robot.Home.R(:,:,7) = [[1;0;0],[0;-1;0],[0;0;-1]]; -% robot.Home.R(:,:,8) = [[0;0;-1],[1;0;0],[0;-1;0]]; -% robot.Home.R(:,:,9) = [[0;0;-1],[0;1;0],[1;0;0]]; -% for i=1:9 -% robot.Home.P(:,i) = co(:,i); -% robot.Home.M(:,:,i) = RpToTrans(robot.Home.R(:,:,i),robot.Home.P(:,i)); -% end -% robot.slist=[[0;0;1;co(:,1)],... -% [0;-1;0;cross(-[0;-1;0],co(:,2))]... -% [0;-1;0;cross(-[0;-1;0],co(:,3))]... -% [0;-1;0;cross(-[0;-1;0],co(:,4))]... -% [0;0;1;cross(-[0;0;1],co(:,5))]... -% [1;0;0;cross(-[1;0;0],co(:,6))]... -% [0;0;-1;cross(-[0;0;-1],co(:,7))]... -% [0;-1;0;cross(-[0;-1;0],co(:,8))]... -% [0;0;0;1;0;0]]; - robot.slist=[[0;0;1;co(:,1)],... - [0;1;0;cross(-[0;1;0],co(:,2))]... - [0;1;0;cross(-[0;1;0],co(:,3))]... - [0;1;0;cross(-[0;1;0],co(:,4))]... - [0;0;1;cross(-[0;0;1],co(:,5))]... - [1;0;0;cross(-[1;0;0],co(:,6))]... - [0;0;1;cross(-[0;0;1],co(:,7))]... - [0;1;0;cross(-[0;-1;0],co(:,8))]... - [0;0;0;1;0;0]]; - robot.theta = zeros([ndof,1]); -% robot.theta(end-1) = pi/4; -% robot.theta(3) = pi/4; -% robot.theta(4) = pi/4; - otherwise - disp('Bad opt.KM_method!') - return; - end - else - % Create symbolic generilized coordiates, their first and second deriatives - q_sym = sym('q%d',[ndof,1],'real'); - qd_sym = sym('qd%d',[ndof,1],'real'); - q2d_sym = sym('qdd%d',[ndof,1],'real'); - - robot.theta = q_sym; - %FIXME: only consider the theta temply - robot.dtheta = zeros([ndof,1]); - robot.ddtheta = zeros([ndof,1]); -% robot.dtheta = qd_sym; -% robot.ddtheta = q2d_sym; -% %R1000 ISA ?? -% robot.theta(ndof) = 0; -% robot.dtheta(ndof) = 0; -% robot.ddtheta(ndof) = 0; - switch opt.KM_method - case 'SCREW' - robot.Home.R(:,:,1) = [[1;0;0],[0;1;0],[0;0;1]]; - robot.Home.R(:,:,2) = [[1;0;0],[0;0;1],[0;-1;0]]; - robot.Home.R(:,:,3) = [[1;0;0],[0;0;1],[0;-1;0]]; - robot.Home.R(:,:,4) = [[1;0;0],[0;0;1],[0;-1;0]]; - robot.Home.R(:,:,5) = [[0;-1;0],[1;0;0],[0;0;1]]; - robot.Home.R(:,:,6) = [[0;-1;0],[0;0;-1],[1;0;0]]; - robot.Home.R(:,:,7) = [[1;0;0],[0;-1;0],[0;0;-1]]; - robot.Home.R(:,:,8) = [[0;0;-1],[1;0;0],[0;-1;0]]; - robot.Home.R(:,:,9) = [[0;0;-1],[0;1;0],[1;0;0]]; - for i=1:9 - robot.Home.P(:,i) = co(:,i); - robot.Home.M(:,:,i) = RpToTrans(robot.Home.R(:,:,i),robot.Home.P(:,i)); - end - robot.slist=[[0;0;1;co(:,1)],... - [0;-1;0;cross(-[0;-1;0],co(:,2))]... - [0;-1;0;cross(-[0;-1;0],co(:,3))]... - [0;-1;0;cross(-[0;-1;0],co(:,4))]... - [0;0;1;cross(-[0;0;1],co(:,5))]... - [1;0;0;cross(-[1;0;0],co(:,6))]... - [0;0;-1;cross(-[0;0;-1],co(:,7))]... - [0;-1;0;cross(-[0;-1;0],co(:,8))]... - [0;0;0;1;0;0]]; - robot.link_type = ['R','R','R','R','R','R','R','R','P']; - case 'SDH' - case 'MDH' - robot.a = [0,0.2,0.5,0.45,0.12,0,0,0, 0.126493]; - robot.d = [0,0,0,0,0,0.28,0.40,0,-0.3157]; - robot.alpha = [0,pi/2,0,0,-pi/2,-pi/2,-pi/2,-pi/2,-pi/2]; - robot.link_type = ['R','R','R','R','R','R','R','R','P']; - robot.d = sym(robot.d); - robot.d(ndof)=q_sym(ndof); - %init vd - robot.vd = robot.d; - robot.vd(ndof)=q_sym(ndof); - %init accd - robot.accd = robot.d; - robot.accd(ndof)=q_sym(ndof); - otherwise - disp('Bad opt.KM_method!') - return; - end - end - - case 'urdf' - robot = parse_urdf(file); - case 'mat' - robot = []; - disp('TODO mat robot define options!') - otherwise - robot = []; - disp('Bad robot define options!') - return -end -%Gravity -gravity = [0;0;-9.806]; -robot.gravity = gravity; \ No newline at end of file diff --git a/get_robot_R1000.m b/get_robot_R1000.m index 6611795..6d776a8 100644 --- a/get_robot_R1000.m +++ b/get_robot_R1000.m @@ -6,9 +6,7 @@ switch opt.robot_def % ------------------------------------------------------------------------ % Dynamics parameters % ------------------------------------------------------------------------ - link_mass = [2.1315260e+01,1.9235354e+01,1.0463871e+01,6.1538806,3.0882893,2.4450941,3.6376589,1.7005420,9.1507819e-1]; - % DVT -% link_mass = [17.42,7.7,2.42,5.19,2.22,1.8,2.31,1.73,1.2]; + link_mass = [17.42,7.7,2.42,5.19,2.22,1.8,2.31,1.73,1.2]; %TODO in process, seems axis_of_rot useless axis_of_rot(:,1) = [0;0;1]; axis_of_rot(:,2) = [0;-1;0]; @@ -20,42 +18,23 @@ switch opt.robot_def axis_of_rot(:,8) = [0;-1;0]; axis_of_rot(:,9) = [0;0;0]; - %DVT -% com_pos_R1(:,1)=[9.7435250e+01 8.3517655e-01 1.2246547e+02]'*10^-3; -% com_pos_R2(:,1)=[-1.0040117e+02 -9.4164823e+01 -3.4522260e+01]'*10^-3; -% com_pos_R1(:,2)=[3.7345395e+02 -5.5328829e+01 -4.4313141e-02]'*10^-3; -% com_pos_R2(:,2)=[ -1.2654643e+02 9.6371171e+01 -4.4094190e-02]'*10^-3; -% com_pos_R1(:,3)=[1.8811711e+02 -7.9651429e+00 -4.9225523e-04 ]'*10^-3; -% com_pos_R2(:,3)=[-2.6188289e+02 2.8348571e+00 -4.9225523e-04 ]'*10^-3; -% com_pos_R1(:,4)=[ 5.4048685e+01 5.8463901e+01 -5.0915631e+00 ]'*10^-3; -% com_pos_R2(:,4)=[ -6.5951315e+01 -9.0360991e+00 5.2908437e+01]'*10^-3; -% com_pos_R1(:,5)=[1.3028528e+02 4.8953539e-02 4.6198421e+01]'*10^-3; -% com_pos_R2(:,5)=[-9.5814715e+01 4.8953539e-02 -1.2301579e+01 ]'*10^-3; -% com_pos_R1(:,6)=[4.9059639e+01 5.9928547e-02 -2.8858572e+01]'*10^-3; -% com_pos_R2(:,6)=[-4.7403608e+00 5.9928547e-02 6.2741428e+01]'*10^-3; -% com_pos_R1(:,7)=[2.3210318e-02 -9.5031144e+00 -1.0242124e+02]'*10^-3; -% com_pos_R2(:,7)=[2.3210318e-02 -9.5031144e+00 2.0257876e+02 ]'*10^-3; -% com_pos_R1(:,8)=[-3.6571935e+01 -3.6282658e-01 -4.7124267e+01]'*10^-3; -% com_pos_R2(:,8)=[2.2355855e+02 -3.6281380e-01 1.4875409e+01]'*10^-3; % don't use -% com_pos_R1(:,9)=[-9.6776846e-02 1.4179201e-01 -3.4242667e+01]'*10^-3; - - com_pos_R1(:,1)=[ 1.0440117e+02 -1.1125559e+01 1.2822933e+02]'*1e-3; - com_pos_R2(:,1)=[-8.0598830e+01 -4.2225559e+01 -1.5870672e+01]'*1e-3; - com_pos_R1(:,2)=[ 3.5562148e+02 1.2378198e+01 1.8395830e-03]'*1e-3; - com_pos_R2(:,2)=[-2.4437852e+02 9.4778198e+01 1.8395830e-03]'*1e-3; - com_pos_R1(:,3)=[2.4798242e+02 -3.5267916e+01 4.8648267e-02]'*1e-3; - com_pos_R2(:,3)=[-3.5201758e+02 -2.9007916e+01 4.8648266e-02]'*1e-3; - com_pos_R1(:,4)=[ 4.2341069e+01 5.2603527e+01 1.2271365e+01]'*1e-3; - com_pos_R2(:,4)=[-7.7658931e+01 -1.2956223e+01 1.9271365e+01]'*1e-3; - com_pos_R1(:,5)=[1.0177553e+02 -3.4868152e-02 1.5686100e+00]'*1e-3; - com_pos_R2(:,5)=[-1.0372447e+02 -3.9239008e-02 -5.4313602e+00]'*1e-3; - com_pos_R1(:,6)=[5.9942347e+01 -4.8346177e-02 5.5784018e+00]'*1e-3; - com_pos_R2(:,6)=[-2.3757653e+01 -4.8346177e-02 4.0028402e+01]'*1e-3; - com_pos_R1(:,7)=[4.9494392e-02 -2.4240394e+00 -1.0332489e+02]'*1e-3; - com_pos_R2(:,7)=[4.9494392e-02 -2.4240394e+00 2.7222511e+02]'*1e-3; - com_pos_R1(:,8)=[-2.7158498e+01 -3.3865875e-01 -4.6588829e+01]'*1e-3; - com_pos_R2(:,8)=[ 2.2423433e+02 -3.3865729e-01 1.9671171e+01]'*1e-3; % don't use - com_pos_R1(:,9)=[-1.9853197e+01 1.9076829e-01 -3.0075564e+01]'*1e-3; + com_pos_R1(:,1)=[9.7435250e+01 8.3517655e-01 1.2246547e+02]'*10^-3; + com_pos_R2(:,1)=[-1.0040117e+02 -9.4164823e+01 -3.4522260e+01]'*10^-3; + com_pos_R1(:,2)=[3.7345395e+02 -5.5328829e+01 -4.4313141e-02]'*10^-3; + com_pos_R2(:,2)=[ -1.2654643e+02 9.6371171e+01 -4.4094190e-02]'*10^-3; + com_pos_R1(:,3)=[1.8811711e+02 -7.9651429e+00 -4.9225523e-04 ]'*10^-3; + com_pos_R2(:,3)=[-2.6188289e+02 2.8348571e+00 -4.9225523e-04 ]'*10^-3; + com_pos_R1(:,4)=[ 5.4048685e+01 5.8463901e+01 -5.0915631e+00 ]'*10^-3; + com_pos_R2(:,4)=[ -6.5951315e+01 -9.0360991e+00 5.2908437e+01]'*10^-3; + com_pos_R1(:,5)=[1.3028528e+02 4.8953539e-02 4.6198421e+01]'*10^-3; + com_pos_R2(:,5)=[-9.5814715e+01 4.8953539e-02 -1.2301579e+01 ]'*10^-3; + com_pos_R1(:,6)=[4.9059639e+01 5.9928547e-02 -2.8858572e+01]'*10^-3; + com_pos_R2(:,6)=[-4.7403608e+00 5.9928547e-02 6.2741428e+01]'*10^-3; + com_pos_R1(:,7)=[2.3210318e-02 -9.5031144e+00 -1.0242124e+02]'*10^-3; + com_pos_R2(:,7)=[2.3210318e-02 -9.5031144e+00 2.0257876e+02 ]'*10^-3; + com_pos_R1(:,8)=[-3.6571935e+01 -3.6282658e-01 -4.7124267e+01]'*10^-3; + com_pos_R2(:,8)=[2.2355855e+02 -3.6281380e-01 1.4875409e+01]'*10^-3; % don't use + com_pos_R1(:,9)=[-9.6776846e-02 1.4179201e-01 -3.4242667e+01]'*10^-3; % stack result robot.com_pos_R1 = com_pos_R1; robot.com_pos_R2 = com_pos_R2; @@ -65,17 +44,26 @@ switch opt.robot_def for i = 1:8 if i == 1 co(:,i) = com_pos_R1(:,i)-com_pos_R2(:,i); - else + elseif i<8 %From base to ISA Origin co(:,i) = co(:,i-1)+com_pos_R1(:,i)-com_pos_R2(:,i); -% else -% %From base to ISA Origin -% co(:,i) = co(:,i-1)-[0;0;0.05896]; + else + %From base to ISA Origin + co(:,i) = co(:,i-1)-[0;0;0.05896]; end end co = [zeros(3,1),co]; % the inertia tensor wrt the frame oriented as the body frame and with the % origin in the COM + % link_inertia(:,:,1) = diag([1,1,1]); + % link_inertia(:,:,2) = diag([1,1,1]); + % link_inertia(:,:,3) = diag([1,1,1]); + % link_inertia(:,:,4) = diag([1,1,1]); + % link_inertia(:,:,5) = diag([1,1,1]); + % link_inertia(:,:,6) = diag([1,1,1]); + % link_inertia(:,:,7) = diag([1,1,1]); + % link_inertia(:,:,8) = diag([1,1,1]); + % link_inertia(:,:,9) = diag([1,1,1]); link_inertia(:,:,1) = [[1.1212091e+05 -1.1694021e+04 -4.7186593e+04];... [-1.1694021e+04 2.3289532e+05 -3.0395414e+02];... [-4.7186593e+04 -3.0395414e+02 2.0033875e+05]]*10^-6; @@ -130,8 +118,8 @@ switch opt.robot_def % ------------------------------------------------------------------------ if(opt.Isreal) %FIXME: only consider the theta temply - robot.dtheta = zeros([ndof,1]); - robot.ddtheta = zeros([ndof,1]); + robot.dtheta = 1000*pi/4*ones([ndof,1]); + robot.ddtheta = 1000*pi/4*ones([ndof,1]); robot.link_type = ['R','R','R','R','R','R','R','R','P']; switch opt.KM_method case 'SDH' diff --git a/get_velocity.asv b/get_velocity.asv new file mode 100644 index 0000000..dacf6b3 --- /dev/null +++ b/get_velocity.asv @@ -0,0 +1,119 @@ +function robot = get_velocity(robot, opt) +switch opt.KM_method + case 'SCREW' + Mlist_CG = robot.kine.Mlist_CG; + % Get general mass matrix + link_mass = robot.m; + com_pos = robot.com; + link_inertia = robot.I; + Slist=robot.slist; + Glist=[]; + for i = 1:robot.ndof + Gb= [link_inertia(:,:,i),zeros(3,3);zeros(3,3),link_mass(i)*diag([1,1,1])]; + Glist = cat(3, Glist, Gb); + % ? + % mc = robot.TW(1:3,1:3,i)*robot.m(i)*robot.com(:,i); + % robot.pi(2:4,i) = mc; + % hack: because we only know the com in the world frame + % the inv of rotation is beacause we want to the com in + % our defined frame. R*com is the wrong result + robot.pi(2:4,i) = robot.Home.R(:,:,i)'*robot.pi(2:4,i); + com_vec2mat = vec2skewSymMat(robot.com(:,i)); %com + robot.I(:,:,i) = robot.I(:,:,i)-link_mass(i)*com_vec2mat*com_vec2mat; + robot.I(:,:,i) = robot.Home.R(:,:,i)'*robot.I(:,:,i)*robot.Home.R(:,:,i); + robot.I_vec(:,i) = inertiaMatrix2Vector(robot.I(:,:,i)); + robot.pi(5:end,i) = robot.I_vec(:,i); + end + if opt.Isreal + % init q + q = robot.theta; + qd = robot.dtheta; + qdd = robot.ddtheta; + [V,Vd,~,~,~] = InverseDynamics_debug(q, qd, qdd, ... + robot.gravity, [0;0;0;0;0;0],Mlist_CG, Glist, Slist); + else + % init q + q = robot.theta; + qd = robot.dtheta; + qdd = robot.ddtheta; + [V,Vd,~,~,~] = InverseDynamics_sym(q, qd, qdd, ... + robot.gravity, [0;0;0;0;0;0],Mlist_CG, Glist, Slist); + end + % FIXME: twist is not equal to velocity + % FIXME: Need to get the velocity represent at base frame + robot.vel.w = V(1:3,2:end); + for i = 1:robot.ndof + robot.vel.v(:,i) = V(4:6,i+1)-vec2skewSymMat(robot.vel.w(:,i))*robot.Home.R(:,:,i)'*; + end +% robot.vel.v = V(4:6,2:end); + robot.vel.dw = Vd(1:3,2:end); + robot.vel.dv = Vd(4:6,2:end); +% robot.vel.dv=[zeros(2,robot.ndof);-robot.gravity(end)*ones(1,robot.ndof)]; + case 'SDH' + case 'MDH' + switch opt.Vel_method + case 'Direct' + Z = [0,0,1]'; + w0 = zeros(3,1); dw0 = zeros(3,1); + dv0 = robot.gravity; + v0 = zeros(3,1); + link_type = robot.link_type; + % init q + q = robot.theta; + qd = robot.dtheta; + qdd = robot.ddtheta; +% for i = 1:robot.ndof +% switch link_type(i) +% case 'R' +% %Do nothing +% case 'P' +% q(i) = robot.d(i); +% qd(i) = robot.vd(i); +% qdd(i) = robot.accd(i); +% end +% end + R = robot.kine.R; + P = robot.kine.t; + % 1-n外推公式 参考robotics toolbox + %第一关节 + switch link_type(1) + case 'R' %revolute + w(:,1) = R(:,:,1)' * w0 + qd(1) * Z; + v(:,1) = R(:,:,1)' * v0 + cross(w0,P(:,1)); + dw(:,1) = R(:,:,1)' * dw0 + cross(R(:,:,1)' * w0, qd(1) * Z) + qdd(1) * Z; + dv(:,1) = R(:,:,1)' * (cross(dw0,P(:,1)) + cross(w0, cross(w0, P(:,1))) + dv0); + case 'P' %prismatic + w(:,1) = R(:,:,1)' * w0; + v(:,1) = R(:,:,1)' * (Z*qd(1)+v0) + cross(w0, P(:,1)); + dw(:,1) = R(:,:,1)' * dw0; + dv(:,1) = R(:,:,1)' * (cross(dw0, P(:,1)) + cross(w0, cross(w0, P(:,1))) + dv0)+... + 2*cross(R(:,:,1)' * w0, Z * qd(1)) + Z * qdd(1); + end + %后面n-1关节 + for i = 1:robot.ndof-1 +% switch link_type(i) +% case 'R' %revolute + w(:,i+1) = R(:,:,i+1)' * w(:,i) + qd(i+1) * Z ; + v(:,i+1) = R(:,:,i+1)' * v(:,i) + cross(w(:,i), P(:,i+1)); + dw(:,i+1) = R(:,:,i+1)' * dw(:,i) + cross(R(:,:,i+1)' * w(:,i), qd(i+1) * Z)+ qdd(i+1) * Z; + dv(:,i+1) = R(:,:,i+1)' * (cross(dw(:,i), P(:,i+1)) + cross(w(:,i), cross(w(:,i), P(:,i+1))) + dv(:,i)); +% case 'P' %prismatic +% w(:,i+1) = R(:,:,i+1)' * w(:,i); +% v(:,i+1) = R(:,:,i+1)' * (Z*qd(:,i)+v(:,i)) + cross(w(:,i), P(:,i+1)); +% dw(:,i+1) = R(:,:,i+1)' * dw(:,i); +% dv(:,i+1) = R(:,:,i+1)' * (cross(dw(:,i), P(:,i+1)) + cross(w(:,i), cross(w(:,i), P(:,i+1))) + dv(:,i))+... +% 2*cross(R(:,:,i+1)' * w(:,i), Z * qd(:,i)) + Z * qdd(:,i); +% end + end + robot.vel.w = w; + robot.vel.v = v; + robot.vel.dw = dw; + robot.vel.dv = dv; + otherwise + disp('Bad opt.Vel_method!') + return; + end + otherwise + disp('Bad opt.KM_method!') + return; +end