From 9d82c9f215d807cd5ef3d95601455a9d911550ea Mon Sep 17 00:00:00 2001 From: cosmic_power Date: Sun, 20 Oct 2024 19:29:19 +0800 Subject: [PATCH] acc match but vel still can't --- R1000_Dynamics_num.m | 4 ++-- get_robot_R1000.m | 11 +++-------- 2 files changed, 5 insertions(+), 10 deletions(-) diff --git a/R1000_Dynamics_num.m b/R1000_Dynamics_num.m index 7b5d61b..f48d273 100644 --- a/R1000_Dynamics_num.m +++ b/R1000_Dynamics_num.m @@ -13,9 +13,9 @@ link_mass = robot.m; com_pos = robot.com; link_inertia = robot.I; -thetalist = [zero_;zero_;q_J;q_J;zero_;zero_;zero_;zero_;zero_]'; +thetalist = [zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_]'; dthetalist = [zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_]'; -ddthetalist = [zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_]'; +ddthetalist = [q_J;q_J;q_J;q_J;q_J;q_J;q_J;q_J;q_J]'; % Get general mass matrix Glist=[]; diff --git a/get_robot_R1000.m b/get_robot_R1000.m index 0e13a8f..98fe59e 100644 --- a/get_robot_R1000.m +++ b/get_robot_R1000.m @@ -119,12 +119,7 @@ switch opt.robot_def if(opt.Isreal) %FIXME: only consider the theta temply robot.dtheta = zeros([ndof,1]); - robot.ddtheta = zeros([ndof,1]); -% robot.theta(end-1) = pi/4; -% robot.dtheta(end-2) = pi/4; -% robot.ddtheta(end-1) = 100*pi/4; -% robot.ddtheta(end-2) = 100*pi/4; -% robot.ddtheta(end-3) = 100*pi/4; + robot.ddtheta = pi/4*ones([ndof,1]); robot.link_type = ['R','R','R','R','R','R','R','R','P']; switch opt.KM_method case 'SDH' @@ -158,8 +153,8 @@ switch opt.robot_def [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; +% robot.theta(3) = pi/4; +% robot.theta(4) = pi/4; otherwise disp('Bad opt.KM_method!') return;