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test 6axis force sensor

This commit is contained in:
cosmic_power 2024-12-26 00:20:48 +08:00
parent 0bdf3e4bb3
commit 3a4b7adfb4
5 changed files with 23 additions and 17 deletions
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20
Identification_main.m
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@ -20,13 +20,13 @@ robot = feval(get_robot_func,theta,dtheta,ddtheta,file,opt);
get_Kinematics_func = sprintf('get_Kinematics_%s',opt.robotName);
robot = feval(get_Kinematics_func,robot,opt);
% R1000_Dynamics_num;
% R1000_Dynamics;
robot = get_velocity(robot, opt);
robot = get_regressor(robot,opt);
% symbol matched
% verify_regressor_R1000;
robot = get_baseParams(robot, opt);
% robot = estimate_dyn(robot,opt);
% robot = estimate_dyn_form_data(robot,opt);
robot = estimate_dyn_MLS(robot,opt);
R1000_Dynamics_num;
% % R1000_Dynamics;
% robot = get_velocity(robot, opt);
% robot = get_regressor(robot,opt);
% % symbol matched
% % verify_regressor_R1000;
% robot = get_baseParams(robot, opt);
% % robot = estimate_dyn(robot,opt);
% % robot = estimate_dyn_form_data(robot,opt);
% robot = estimate_dyn_MLS(robot,opt);

8
R1000_Dynamics_num.m
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@ -21,9 +21,9 @@ link_inertia = robot.I;
%real traj
get_GCTraj_R1000_DVT;
thetalist = idntfcnTrjctry(6).q';
dthetalist = idntfcnTrjctry(6).qd';
ddthetalist = idntfcnTrjctry(6).qdd';
thetalist = idntfcnTrjctry(8).q';
dthetalist = idntfcnTrjctry(8).qd';
ddthetalist = idntfcnTrjctry(8).qdd';
% Get general mass matrix
Glist=[];
@ -143,7 +143,7 @@ Vlinear=sym(zeros(3,3));
J=sym(zeros(6,N));
exf=[0;0;0;0;0;0];
for i = 1:length(q_J)
for i = 1:length(thetalist)
[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);

2
get_GCTraj_R1000_DVT.m
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@ -2,7 +2,7 @@
gearRatio = [100,100,120,100,100,80,50,100,1/(0.012/(2*pi))];
motorConstant = [0.21*2.5,0.21*2.5,0.128,0.119,0.094,0.094,0.094,0.099,0.031];
sensorDir = [-1,1,-1,-1,-1,1,-1,1,1];
load("C:\Users\cosmicpower\AppData\Roaming\123pan\1833128421\123同步文件夹\R1000-GC-Data\large_range_lab1.mat");
load("C:\Users\cosmicpower\AppData\Roaming\123pan\1833128421\123同步文件夹\R1000-GC-Data\lab12.mat");
posDir = [1,1,1,1,1,1,1,-1,1];
isCurrentSensor = true;
% J9 traj

2
plotData_current.m
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@ -1,7 +1,7 @@
gearRatio = [100,100,120,100,100,80,50,100,1/(0.012/(2*pi))];
motorConstant = [0.21*2.5,0.21*2.5,0.128,0.119,0.094,0.094,0.094,0.099,0.031];
sensorDir = [-1,1,-1,-1,-1,1,-1,1,1];
% load("D:\1833128421\123同步文件夹\R1000-GC-Data\lab12.mat");
load("C:\Users\cosmicpower\AppData\Roaming\123pan\1833128421\123同步文件夹\R1000-GC-Data\large_range_lab1.mat");
posDir = [1,1,1,1,1,1,1,-1,1];
% J9 traj

6
untitled3.m
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@ -167,3 +167,9 @@ xlabel('Time/s')
ylabel('Torque/Nm')
legend('Torque compute form current')
title('Torque compute form current')
%%
% F_Simpack = permute(F_Simpack,[2 1 3]);
plot(thetalist(:,8),-reshape(F_Simpack(7,3,:),[1,length(F_Simpack)]));
test = fileData8.data(:,(6*(8+1))+11*3-3);
test_time = fileData8.data(:,8+1+11);
hold on;plot(test_time,-test)