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base: Robotics:9a41c6688d32847504dbde8e8530b7ea3a16d3ca
Branches Tags
Robotics:main
Robotics:feature/calulated-col-force
Robotics:test/grab-to-unstow
Robotics:feature/Make-GC-Compilable
Robotics:feature/R1000-identification
Robotics:test/R1000-test
Robotics:feature/add-regressor
Robotics:feature/add-kinematics
..
compare: Robotics:b95e3f86b7059a07c7c2a4539c20957655d0217a
Branches Tags
Robotics:feature/calulated-col-force
Robotics:main
Robotics:test/grab-to-unstow
Robotics:feature/Make-GC-Compilable
Robotics:feature/R1000-identification
Robotics:test/R1000-test
Robotics:feature/add-regressor
Robotics:feature/add-kinematics

2 Commits
9a41c6688d ... b95e3f86b7

Author SHA1 Message Date
cosmic_power b95e3f86b7 match with simpack 2024-09-29 02:54:50 +08:00
cosmic_power 4a5f9a733b add ture com pos info 2024-09-29 01:22:41 +08:00
5 changed files with 105 additions and 128 deletions
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72
Identification_main.asv
View File

@ -1,72 +0,0 @@
close all;clc;clear
file = [];
opt.robot_def = 'direct';
opt.KM_method = 'MDH';
opt.Vel_method = 'Direct';
opt.LD_method = 'Direct';
opt.debug = true;
opt.robotName = 'R1000';
opt.Isreal = true;
robot = get_robot_R1000(file,opt);
% robot.theta = [1,1,0];
%TODO verify kinematics via robotics toolbox or other software result
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;
% Get 3D coordinate of CO
co=[]
for i = 1:8
if i == 1
co(:,i) = com_pos_R1(:,i)-com_pos_R2(:,i);
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];
end
end
co = [zeros(3,1),co];
% temp slist
robot.slist=[[0;0;1;0;0;0],...
[0;-1;0;cross(-[0;-1;0],[0.2;0;0])]...
[0;-1;0;cross(-[0;-1;0],[0.2+0.5;0;0])]...
[0;-1;0;cross(-[0;-1;0],[0.2+0.5+0.45;0;0])]...
[0;0;1;cross(-[0;0;1],[0.2+0.5+0.45+0.12;0;0])]...
[1;0;0;cross(-[1;0;0],[0.2+0.5+0.45+0.12+0.28;0;0])]...
[0;0;-1;cross(-[0;0;-1],[0.2+0.5+0.45+0.12+0.28;0;-0.4])]...
[0;-1;0;cross(-[0;-1;0],[0.2+0.5+0.45+0.12+0.28;0;-0.4])]...
[0;0;0;1;0;0]];
robot.slist(4:6,:) = co;
robot.Home = [0;0;-1];
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 = get_Kinematics(robot, opt);
% R1000_Dynamics_num;
% opt.Isreal = false;
% robot = get_velocity(robot, opt);
% robot = get_regressor(robot,opt);
% symbol matched
% verify_regressor
% robot = get_baseParams(robot, opt);

21
Identification_main.m
View File

@ -31,7 +31,7 @@ com_pos_R2(:,8)=[2.2355855e+02 -3.6281380e-01 1.4875409e+01]'*10^-3; % don't us
com_pos_R1(:,9)=[-9.6776846e-02 1.4179201e-01 -3.4242667e+01]'*10^-3; com_pos_R1(:,9)=[-9.6776846e-02 1.4179201e-01 -3.4242667e+01]'*10^-3;
% Get 3D coordinate of CO % Get 3D coordinate of CO
co=[] co=[];
for i = 1:8 for i = 1:8
if i == 1 if i == 1
co(:,i) = com_pos_R1(:,i)-com_pos_R2(:,i); co(:,i) = com_pos_R1(:,i)-com_pos_R2(:,i);
@ -46,17 +46,16 @@ end
co = [zeros(3,1),co]; co = [zeros(3,1),co];
% temp slist % temp slist
robot.slist=[[0;0;1;0;0;0],... robot.slist=[[0;0;1;co(:,1)],...
[0;-1;0;cross(-[0;-1;0],[0.2;0;0])]... [0;-1;0;cross(-[0;-1;0],co(:,2))]...
[0;-1;0;cross(-[0;-1;0],[0.2+0.5;0;0])]... [0;-1;0;cross(-[0;-1;0],co(:,3))]...
[0;-1;0;cross(-[0;-1;0],[0.2+0.5+0.45;0;0])]... [0;-1;0;cross(-[0;-1;0],co(:,4))]...
[0;0;1;cross(-[0;0;1],[0.2+0.5+0.45+0.12;0;0])]... [0;0;1;cross(-[0;0;1],co(:,5))]...
[1;0;0;cross(-[1;0;0],[0.2+0.5+0.45+0.12+0.28;0;0])]... [1;0;0;cross(-[1;0;0],co(:,6))]...
[0;0;-1;cross(-[0;0;-1],[0.2+0.5+0.45+0.12+0.28;0;-0.4])]... [0;0;-1;cross(-[0;0;-1],co(:,7))]...
[0;-1;0;cross(-[0;-1;0],[0.2+0.5+0.45+0.12+0.28;0;-0.4])]... [0;-1;0;cross(-[0;-1;0],co(:,8))]...
[0;0;0;1;0;0]]; [0;0;0;1;0;0]];
robot.slist(4:6,:) = co;
robot.Home.R(:,:,1) = [[1;0;0],[0;1;0],[0;0;1]]; 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(:,:,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(:,:,3) = [[1;0;0],[0;0;1],[0;-1;0]];
@ -74,7 +73,7 @@ robot.link_type = ['R','R','R','R','R','R','R','R','P'];
robot = get_Kinematics(robot, opt); robot = get_Kinematics(robot, opt);
% R1000_Dynamics_num; R1000_Dynamics_num;
% opt.Isreal = false; % opt.Isreal = false;
% robot = get_velocity(robot, opt); % robot = get_velocity(robot, opt);
% robot = get_regressor(robot,opt); % robot = get_regressor(robot,opt);

117
R1000_Dynamics_num.m
View File

@ -12,9 +12,9 @@ link_mass = robot.m;
com_pos = robot.com; com_pos = robot.com;
link_inertia = robot.I; link_inertia = robot.I;
thetalist = [zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_]'; thetalist = [q_J;zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_]';
dthetalist = [zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_]'; dthetalist = [qd_J;zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_]';
ddthetalist = [zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_]'; ddthetalist = [qdd_J;zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_]';
% Get general mass matrix % Get general mass matrix
Glist=[]; Glist=[];
@ -24,51 +24,94 @@ for i = 1:N
end end
% Get the com pos transformation in each joint reference frame % Get the com pos transformation in each joint reference frame
Mlist_CG = []; % Mlist_CG = [];
for i = 0:N-1 % for i = 0:N-1
if i == 0 % if i == 0
M = robot.T(:,:,i+1)*transl(com_pos(:,i+1)); % M = robot.T(:,:,i+1)*transl(com_pos(:,i+1));
else % else
M = TransInv(transl(com_pos(:,i)))*robot.T(:,:,i+1)*transl(com_pos(:,i+1)); % M = TransInv(transl(com_pos(:,i)))*robot.T(:,:,i+1)*transl(com_pos(:,i+1));
end % end
Mlist_CG = cat(3, Mlist_CG, M); % Mlist_CG = cat(3, Mlist_CG, M);
end % end
M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]]; % M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
Mlist_CG = cat(3, Mlist_CG, M); % Mlist_CG = cat(3, Mlist_CG, M);
% Get the com pos transformation in each joint reference frame % Get the com pos transformation in each joint reference frame
% FIXME: BUG here % FIXME: BUG here
Mlist_CG=[]; % Mlist_CG=[];
for i = 0:N-1 % for i = 0:N-1
if i == 0 % if i == 0
M=robot.T(:,:,i+1)*transl(com_pos(:,i+1)); % M=robot.T(:,:,i+1)*transl(com_pos(:,i+1));
else % else
rotation_i = diag([1,1,1]); % rotation_i = diag([1,1,1]);
for j = 1:i % for j = 1:i
rotation_i = rotation_i*TransToRp(robot.T(:,:,i)); % rotation_i = rotation_i*TransToRp(robot.T(:,:,i));
rotation_j = rotation_i*TransToRp(robot.T(:,:,i+1)); % rotation_j = rotation_i*TransToRp(robot.T(:,:,i+1));
end % end
M = TransInv(RpToTrans(rotation_i,rotation_i*com_pos(:,i)))*robot.T(:,:,i)*RpToTrans(rotation_j,rotation_j*com_pos(:,i+1)); % M = TransInv(RpToTrans(rotation_i,rotation_i*com_pos(:,i)))*robot.T(:,:,i+1)*RpToTrans(rotation_j,rotation_j*com_pos(:,i+1));
end % end
Mlist_CG = cat(3, Mlist_CG, M); % Mlist_CG = cat(3, Mlist_CG, M);
end % end
M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]]; % M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
Mlist_CG = cat(3, Mlist_CG, M); % Mlist_CG = cat(3, Mlist_CG, M);
% ct=[];
% Mlist_CG=[];
% for i = 1:N
% if i == 1
% ct(:,i) = com_pos_R1(:,i);
% elseif i< 9
% ct(:,i) = -com_pos_R2(:,i-1)+com_pos_R1(:,i);
% else
% ct(:,i) = -com_pos_R1(:,i-1)-[0;0;0.05896]+com_pos_R1(:,i);
% end
% robot.Home.com(:,i) = ct(:,i);
% M = RpToTrans(robot.T(1:3,1:3,i),robot.Home.R(:,:,i)*robot.Home.com(:,i));
% Mlist_CG = cat(3, Mlist_CG, M);
% 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);
% Mlist_CG=[]; % Mlist_CG=[];
% for i = 1:N % for i = 1:N
% if i == 1 % if i == 1
% M = [diag([1,1,1]),com_pos_R1(:,i);zeros(1,3),1]; % M = [diag([1,1,1]),com_pos_R1(:,i);zeros(1,3),1];
% elseif i<=8 % elseif i<=8
% M = RpToTrans(TransToRp(robot.T(:,:,i)),TransToRp(robot.T(:,:,i))*(-com_pos_R2(:,i-1)+com_pos_R1(:,i))); % M = RpToTrans(TransToRp(robot.T(:,:,i)),robot.Home.R(:,:,i)*(-com_pos_R2(:,i-1)+com_pos_R1(:,i)));
% elseif i==9 % elseif i==9
% M = RpToTrans(TransToRp(robot.T(:,:,i)),TransToRp(robot.T(:,:,i))*(-[0;0;0.05896]+com_pos_R1(:,i-1)+com_pos_R1(:,i))); % M = RpToTrans(TransToRp(robot.T(:,:,i)),robot.Home.R(:,:,i)*(-[0;0;0.05896]+com_pos_R1(:,i-1)+com_pos_R1(:,i)));
% end % end
% Mlist_CG = cat(3, Mlist_CG, M); % Mlist_CG = cat(3, Mlist_CG, M);
% end % end
% M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]]; % M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
% Mlist_CG = cat(3, Mlist_CG, M); % Mlist_CG = cat(3, Mlist_CG, M);
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
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 % Get the end efforce transformation in each joint reference frame
Mlist_ED = []; Mlist_ED = [];
for i = 1:N for i = 1:N
@ -80,15 +123,7 @@ Mlist_ED = cat(3, Mlist_ED, M);
%TODO: Get Slist form DH table method %TODO: Get Slist form DH table method
% RRRRRRRRP % RRRRRRRRP
Slist=[[0;0;1;0;0;0],... Slist=robot.slist;
[0;-1;0;cross(-[0;-1;0],[0.2;0;0])]...
[0;-1;0;cross(-[0;-1;0],[0.2+0.5;0;0])]...
[0;-1;0;cross(-[0;-1;0],[0.2+0.5+0.45;0;0])]...
[0;0;1;cross(-[0;0;1],[0.2+0.5+0.45+0.12;0;0])]...
[1;0;0;cross(-[1;0;0],[0.2+0.5+0.45+0.12+0.28;0;0])]...
[0;0;-1;cross(-[0;0;-1],[0.2+0.5+0.45+0.12+0.28;0;-0.4])]...
[0;-1;0;cross(-[0;-1;0],[0.2+0.5+0.45+0.12+0.28;0;-0.4])]...
[0;0;0;1;0;0]];
Vlinear=sym(zeros(3,3)); Vlinear=sym(zeros(3,3));
J=sym(zeros(6,N)); J=sym(zeros(6,N));

2
get_Kinematics.m
View File

@ -12,7 +12,7 @@ if(opt.Isreal)
end end
robot.TW(:,:,j) = T; robot.TW(:,:,j) = T;
end end
for i = 1:size(thetalist) for i = 1:length(thetalist)
if i == 1 if i == 1
robot.T(:,:,i) = robot.TW(:,:,i); robot.T(:,:,i) = robot.TW(:,:,i);
else else

21
untitled2.m
View File

@ -42,7 +42,7 @@ 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 this com_pos_R2(:,8)=[2.2355855e+02 -3.6281380e-01 1.4875409e+01]'*10^-3; % don't use this
com_pos_R1(:,9)=[-9.6776846e-02 1.4179201e-01 -3.4242667e+01]'*10^-3; com_pos_R1(:,9)=[-9.6776846e-02 1.4179201e-01 -3.4242667e+01]'*10^-3;
% plot 3D: Get 3D coordinate of COM % plot 3D: Get 3D coordinate of COM
ct=[] ct=[];
for i = 1:9 for i = 1:9
if i == 1 if i == 1
ct(:,i) = com_pos_R1(:,i); ct(:,i) = com_pos_R1(:,i);
@ -56,7 +56,7 @@ plot3(ct(1,:),ct(2,:),ct(3,:),'o','Color','r')
axis equal axis equal
grid on grid on
% plot 3D: Get 3D coordinate of CO % plot 3D: Get 3D coordinate of CO
co=[] co=[];
for i = 1:8 for i = 1:8
if i == 1 if i == 1
co(:,i) = com_pos_R1(:,i)-com_pos_R2(:,i); co(:,i) = com_pos_R1(:,i)-com_pos_R2(:,i);
@ -73,6 +73,21 @@ hold on
plot3(co(1,:),co(2,:),co(3,:),'o','Color','b') plot3(co(1,:),co(2,:),co(3,:),'o','Color','b')
axis equal axis equal
grid on grid on
%%
for i = 1:9 for i = 1:9
co(:,i+1)-co(:,i) co(:,i+1)-co(:,i);
end
%%
for i = 1:9
tt(:,i)=robot.TW(1:3,1:3,i)*com_pos_R1(:,i);
end
kk=[];
for i = 1:9
kk(:,:,i)=TransInv(robot.TW(:,:,i))*Mlist_CG_Base(:,:,i);
end
%%
yy=eye(4,4);
for i =1:9
yy = yy*Mlist_CG(:,:,i)
end end