diff --git a/estimate_dyn_form_data.m b/estimate_dyn_form_data.m new file mode 100644 index 0000000..ac004d0 --- /dev/null +++ b/estimate_dyn_form_data.m @@ -0,0 +1,111 @@ +function robot = estimate_dyn_form_data(robot,opt) +% ------------------------------------------------------------------- +% Get datas +% ------------------------------------------------------------------------ +posData = robot.posData; +currentData = robot.currentData; +[nRow,nCol] = size(posData); +index_p = find(posData(:,nCol-1)==7); +jointPos_p = posData(index_p,1:9); +jointPos_p = jointPos_p(1:100:end,:); +index_n = find(posData(:,nCol-1)==-7); +jointPos_n = posData(index_n,1:9); +jointPos_n = jointPos_n(1:100:end,:); +q = [jointPos_p]'; +qd = q; qdd = q; +motorConst = [0.405, 0.405, 0.167, 0.126,0.073,0.151,0.083,0.073,0.03185]; +gearRatio = [101,101,100,100,100,100,100,100,100]; +% pi -> [m;mc;I] 10 element +index_p = find(currentData(:,nCol-1)==7); +jointCur_p = currentData(index_p,1:9); +jointCur_p = jointCur_p(1:100:end,:); +index_n = find(currentData(:,nCol-1)==-7); +jointCur_n = currentData(index_n,1:9); +jointCur_n = jointCur_n(1:100:end,:); +current = (jointCur_p+jointCur_n)/2; +torque_cur = gearRatio.*motorConst.*current; +tau = torque_cur(:,7)'; + +idntfcnTrjctry.t = 1:length(q); +idntfcnTrjctry.q = q; +idntfcnTrjctry.qd = qd; +idntfcnTrjctry.qdd = qdd; +idntfcnTrjctry.tau = tau; +% ------------------------------------------------------------------- +% Generate Regressors based on data +% ------------------------------------------------------------------------ +drvGains = []; +baseQR = robot.baseQR; +[Tau, Wb] = buildObservationMatrices(idntfcnTrjctry, baseQR, drvGains, opt); + +% --------------------------------------------------------------------- +% Estimate parameters +% --------------------------------------------------------------------- +sol = struct; +method = 'PC-OLS'; +if strcmp(method, 'OLS') + % Usual least squares + [sol.pi_b, sol.pi_fr] = ordinaryLeastSquareEstimation(Tau, Wb); +elseif strcmp(method, 'PC-OLS') + % Physically consistent OLS using SDP optimization + [sol.pi_b] = physicallyConsistentEstimation(Tau, Wb); +else + error("Chosen method for dynamic parameter estimation does not exist"); +end +robot.sol = sol; +% Local unctions + function [Tau, Wb] = buildObservationMatrices(idntfcnTrjctry, baseQR, drvGains,opt) + % The function builds observation matrix for UR10E + E1 = baseQR.permutationMatrix(:,1:baseQR.numberOfBaseParameters); + + Wb = []; Tau = []; + for i = 1:1:length(idntfcnTrjctry.t) + % Yi = regressorWithMotorDynamics(idntfcnTrjctry.q(i,:)',... + % idntfcnTrjctry.qd(i,:)',... + % idntfcnTrjctry.q2d(i,:)'); + % Yfrctni = frictionRegressor(idntfcnTrjctry.qd_fltrd(i,:)'); + % Ybi = [Yi*E1, Yfrctni]; + if opt.isJointTorqueSensor + base_regressor_func = sprintf('base_regressor_%s',opt.robotName); + Yb = feval(base_regressor_func, idntfcnTrjctry.q(:,i), ... + idntfcnTrjctry.qd(:,i),idntfcnTrjctry.qdd(:,i),baseQR); + %hack + joint_idex = robot.ndof-2; + Yb = Yb((joint_idex-1)+1:(joint_idex),:); + Wb = vertcat(Wb, Yb); + % Tau = vertcat(Tau, diag(drvGains)*idntfcnTrjctry.i_fltrd(i,:)'); + Tau = vertcat(Tau, idntfcnTrjctry.tau(:,i)); + elseif opt.isSixAxisFTSensor + base_6AxisFT_regressor_func = sprintf('base_6AxisFT_regressor_%s',opt.robotName); + Yb = feval(base_6AxisFT_regressor_func, idntfcnTrjctry.q(:,i), ... + idntfcnTrjctry.qd(:,i),idntfcnTrjctry.qdd(:,i),baseQR); + joint_idex = robot.ndof-2; + Yb = Yb(6*(joint_idex-1)+1:6*(joint_idex),:); + Wb = vertcat(Wb, Yb); + % Tau = vertcat(Tau, diag(drvGains)*idntfcnTrjctry.i_fltrd(i,:)'); + Tau = vertcat(Tau, idntfcnTrjctry.tau(:,i)); + end + end + end + + + function [pib_OLS, pifrctn_OLS] = ordinaryLeastSquareEstimation(Tau, Wb) + % Function perfroms ordinary least squares estimation of parameters +% pi_OLS = (Wb'*Wb)\(Wb'*Tau); +% pib_OLS = pi_OLS(1:40); % variables for base paramters +% pifrctn_OLS = pi_OLS(41:end); + pib_OLS=pinv(Wb)*Tau; + pifrctn_OLS = 0; + 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 + function pib = physicallyConsistentEstimation(Tau, Wb) + % 求解线性规划问题 + options = optimoptions('lsqlin','Algorithm','trust-region-reflective','Display','iter'); + pib = lsqlin(Wb,Tau,[],[],[],[],-2*ones(5,1),2*ones(5,1),[0.9151,0.0092,0.0002,-0.0644,0.1067]',options) + end +end \ No newline at end of file diff --git a/get_Kinematics_EVT.m b/get_Kinematics_EVT.m new file mode 100644 index 0000000..f271c25 --- /dev/null +++ b/get_Kinematics_EVT.m @@ -0,0 +1,73 @@ +function robot = get_Kinematics(robot, opt) +if(opt.Isreal) + switch opt.KM_method + case 'SCREW' + % Get transformation for each joint + thetalist = robot.theta; + Slist = robot.slist; + % TODO:move to lib + for j = 1:length(thetalist) + T=robot.Home.M(:,:,j); + for i = j: -1: 1 + T = MatrixExp6(VecTose3(Slist(:, i) * thetalist(i))) * T; + end + robot.kine.TW(:,:,j) = T; + end + for i = 1:length(thetalist) + if i == 1 + robot.kine.T(:,:,i) = robot.kine.TW(:,:,i); + else + robot.kine.T(:,:,i) = TransInv(robot.kine.TW(:,:,i-1))*robot.kine.TW(:,:,i); + end + end + %stack result into kine structure + robot.kine.R = robot.kine.T(1:3,1:3,:); + robot.kine.t = robot.kine.T(1:3,4,:); + robot.kine.Fkine = robot.kine.TW(:,:,end); + % get the CG at the world base frame + % FIXME: Fix this hack + ct=zeros(3,robot.ndof); + Mlist_CG_Base=zeros(4,4,10); + com_pos_R1 = robot.com_pos_R1; + com_pos_R2 = robot.com_pos_R2; + for i = 1:length(thetalist) + if i == 1 + ct(:,i) = com_pos_R1(:,i); +% elseif i< 9 + else + ct(:,i) = ct(:,i-1)-com_pos_R2(:,i-1)+com_pos_R1(:,i); +% else +% % HACK +% 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(:,:,i) = M_CG_Base; + end + robot.kine.Mlist_CG_Base = Mlist_CG_Base; + % get the CG at the last GC frame + Mlist_CG = zeros(4,4,9); + for i = 1:length(thetalist) + 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); + robot.kine.Mlist_CG = Mlist_CG; + + % Get the end efforce transformation in each joint reference frame + Mlist_ED = zeros(4,4,9); + for i = 1:length(thetalist) + Mlist_ED(:,:,i) = robot.kine.T(:,:,i); + 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); + robot.kine.Mlist_ED = Mlist_ED; + otherwise + disp('Bad opt.KM_method!') + return; + end +end \ No newline at end of file diff --git a/get_robot_R1000_EVT.m b/get_robot_R1000_EVT.m new file mode 100644 index 0000000..f742f9c --- /dev/null +++ b/get_robot_R1000_EVT.m @@ -0,0 +1,178 @@ +function robot = get_robot_R1000_EVT(theta,dtheta,ddtheta,file,opt) +switch opt.robot_def + case 'direct' + ndof = 9; + robot = struct; + robot.ndof = ndof; + % ------------------------------------------------------------------------ + % Structure define + % ------------------------------------------------------------------------ + robot.m = zeros(1,9); + robot.I = zeros(3,3,9); + robot.com = zeros(3,9); + robot.axis = zeros(3,9); + robot.com_pos_R1 = zeros(3,9); + robot.com_pos_R2 = zeros(3,9); + robot.slist = zeros(6,9); + robot.theta = zeros(9,1); + robot.dtheta = zeros([9,1]); + robot.ddtheta = zeros([9,1]); + robot.Home.com = zeros(3,9); + robot.Home.R = zeros(3,3,9); + robot.Home.P = zeros(3,9); + robot.Home.M = zeros(4,4,9); + robot.kine.TW = zeros(4,4,9); + robot.kine.Fkine = zeros(4,4); + robot.kine.T = zeros(4,4,9); + robot.kine.R = zeros(3,3,9); + robot.kine.t = zeros(3,1,9); + robot.kine.Mlist_CG_Base = zeros(4,4,10); + robot.kine.Mlist_CG = zeros(4,4,10); + robot.kine.Mlist_ED = zeros(4,4,10); + robot.gravity = zeros(3,1); + % ------------------------------------------------------------------------ + % 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]; + axis_of_rot = zeros(3,robot.ndof); + 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]; + + com_pos_R1 = zeros(3,robot.ndof); + com_pos_R2= zeros(3,robot.ndof); + + 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=zeros(3,robot.ndof-1); + for i = 1:robot.ndof-1 + 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 = zeros(3,3,robot.ndof); + 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; + % 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 + robot.motorConst = [0.405, 0.405, 0.167, 0.126,0.073,0.151,0.083,0.073,0.03185]; + % ------------------------------------------------------------------------ + % Kinematics parameters + % ------------------------------------------------------------------------ + if(opt.Isreal) + robot.theta = theta; + robot.dtheta = dtheta; + robot.ddtheta = ddtheta; + robot.link_type = ['R','R','R','R','R','R','R','R','P']; + 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]]; + otherwise + disp('Bad opt.KM_method!') + return; + end + end + 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/identification_problem.mat b/identification_problem.mat new file mode 100644 index 0000000..04eca9b Binary files /dev/null and b/identification_problem.mat differ diff --git a/readDataFile.m b/readDataFile.m new file mode 100644 index 0000000..6589133 --- /dev/null +++ b/readDataFile.m @@ -0,0 +1,6 @@ +% function = readDataFile() +folder = 'C:\GitLab\Robotics\Identification\IRDYN\simpack_data\data\'; +posInfoFile = 'GC_cali.csv'; +currentInfoFile = 'GC_cur.csv'; +posData = readmatrix([folder posInfoFile]); +currentData = readmatrix([folder currentInfoFile]); \ No newline at end of file