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base: Robotics:c55501f89832c85c77de79a10d5d6af67d0c8b4e
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:b449059a0c5023ddb22827e3d18f6cc272b90f6e
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

No commits in common. "c55501f89832c85c77de79a10d5d6af67d0c8b4e" and "b449059a0c5023ddb22827e3d18f6cc272b90f6e" have entirely different histories.
c55501f898 ... b449059a0c

5 changed files with 18 additions and 23 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); get_Kinematics_func = sprintf('get_Kinematics_%s',opt.robotName);
robot = feval(get_Kinematics_func,robot,opt); robot = feval(get_Kinematics_func,robot,opt);
R1000_Dynamics_num; % R1000_Dynamics_num;
% % R1000_Dynamics; % R1000_Dynamics;
% robot = get_velocity(robot, opt); robot = get_velocity(robot, opt);
% robot = get_regressor(robot,opt); robot = get_regressor(robot,opt);
% % symbol matched % symbol matched
% % verify_regressor_R1000; % verify_regressor_R1000;
% robot = get_baseParams(robot, opt); robot = get_baseParams(robot, opt);
% % robot = estimate_dyn(robot,opt); % robot = estimate_dyn(robot,opt);
% % robot = estimate_dyn_form_data(robot,opt); % robot = estimate_dyn_form_data(robot,opt);
% robot = estimate_dyn_MLS(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 %real traj
get_GCTraj_R1000_DVT; get_GCTraj_R1000_DVT;
thetalist = idntfcnTrjctry(8).q'; thetalist = idntfcnTrjctry(6).q';
dthetalist = idntfcnTrjctry(8).qd'; dthetalist = idntfcnTrjctry(6).qd';
ddthetalist = idntfcnTrjctry(8).qdd'; ddthetalist = idntfcnTrjctry(6).qdd';
% Get general mass matrix % Get general mass matrix
Glist=[]; Glist=[];
@ -143,7 +143,7 @@ Vlinear=sym(zeros(3,3));
J=sym(zeros(6,N)); J=sym(zeros(6,N));
exf=[0;0;0;0;0;0]; exf=[0;0;0;0;0;0];
for i = 1:length(thetalist) for i = 1:length(q_J)
[V1(:,:, i),Vd1(:,:, i),Adgab_mat(:,:,:,i),Fmat(:,:,i),taumat(:,i)] ... [V1(:,:, i),Vd1(:,:, i),Adgab_mat(:,:,:,i),Fmat(:,:,i),taumat(:,i)] ...
= InverseDynamics_debug(thetalist(i,:)', dthetalist(i,:)', ddthetalist(i,:)', ... = InverseDynamics_debug(thetalist(i,:)', dthetalist(i,:)', ddthetalist(i,:)', ...
[0;0;-9.806], exf, Mlist_CG, Glist, Slist); [0;0;-9.806], exf, Mlist_CG, Glist, Slist);

3
get_GCTraj_R1000_DVT.m
View File

@ -2,7 +2,8 @@
gearRatio = [100,100,120,100,100,80,50,100,1/(0.012/(2*pi))]; 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]; 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]; 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\lab12.mat"); % load("C:\Users\cosmicpower\AppData\Roaming\123pan\1833128421\123同步文件夹\R1000-GC-Data\large_range_lab1.mat");
load("D:\1833128421\123同步文件夹\R1000-GC-Data\large_range_lab1.mat")
posDir = [1,1,1,1,1,1,1,-1,1]; posDir = [1,1,1,1,1,1,1,-1,1];
isCurrentSensor = true; isCurrentSensor = true;
% J9 traj % 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))]; 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]; 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]; 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("D:\1833128421\123同步文件夹\R1000-GC-Data\lab12.mat");
posDir = [1,1,1,1,1,1,1,-1,1]; posDir = [1,1,1,1,1,1,1,-1,1];
% J9 traj % J9 traj

8
untitled3.m
View File

@ -166,10 +166,4 @@ plot(posData(index_p(1:500:end),end)-posData(index_p(1),end),torque_cur(:,7));ho
xlabel('Time/s') xlabel('Time/s')
ylabel('Torque/Nm') ylabel('Torque/Nm')
legend('Torque compute form current') legend('Torque compute form current')
title('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)