Robotics
/
IRDYn
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

acc match but vel still can't

This commit is contained in:
cosmic_power 2024-10-20 19:29:19 +08:00
parent 27280103ff
commit 9d82c9f215
2 changed files with 5 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
R1000_Dynamics_num.m
View File

@ -13,9 +13,9 @@ link_mass = robot.m;
com_pos = robot.com; com_pos = robot.com;
link_inertia = robot.I; 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_]'; 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 % Get general mass matrix
Glist=[]; Glist=[];

11
get_robot_R1000.m
View File

@ -119,12 +119,7 @@ switch opt.robot_def
if(opt.Isreal) if(opt.Isreal)
%FIXME: only consider the theta temply %FIXME: only consider the theta temply
robot.dtheta = zeros([ndof,1]); robot.dtheta = zeros([ndof,1]);
robot.ddtheta = zeros([ndof,1]); robot.ddtheta = pi/4*ones([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.link_type = ['R','R','R','R','R','R','R','R','P']; robot.link_type = ['R','R','R','R','R','R','R','R','P'];
switch opt.KM_method switch opt.KM_method
case 'SDH' case 'SDH'
@ -158,8 +153,8 @@ switch opt.robot_def
[0;0;0;1;0;0]]; [0;0;0;1;0;0]];
robot.theta = zeros([ndof,1]); robot.theta = zeros([ndof,1]);
% robot.theta(end-1) = pi/4; % robot.theta(end-1) = pi/4;
robot.theta(3) = pi/4; % robot.theta(3) = pi/4;
robot.theta(4) = pi/4; % robot.theta(4) = pi/4;
otherwise otherwise
disp('Bad opt.KM_method!') disp('Bad opt.KM_method!')
return; return;