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feature/R1000-identification #2

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cosmic_power merged 48 commits from feature/R1000-identification into main 2024-12-16 15:25:53 +00:00
Conversation 0 Commits 48 Files Changed 129 +229 -380
5 changed files with 229 additions and 380 deletions
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6
Identification_main.m
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@ -10,13 +10,13 @@ opt.reGenerate = false;
opt.Isreal = true; opt.Isreal = true;
robot = get_robot_R1000(file,opt); robot = get_robot_R1000(file,opt);
% robot = get_Kinematics(robot, opt); robot = get_Kinematics(robot, opt);
R1000_Dynamics_num; R1000_Dynamics_num;
% R1000_Dynamics; % R1000_Dynamics;
% getGravityForce; % getGravityForce;
% 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);

150
R1000_Dynamics_num.m
View File

@ -13,17 +13,17 @@ 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 = [zero_;zero_;q_J;q_J;zero_;zero_;zero_;zero_;zero_]';
dthetalist = [zero_;q_J;zero_;zero_;zero_;zero_;zero_;zero_;zero_]'; dthetalist = 1000*[q_J;q_J;q_J;q_J;q_J;q_J;q_J;q_J;q_J]';
ddthetalist = [zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_]'; ddthetalist = 1000*[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=[];
% for i = 1:N for i = 1:N
% link_inertia(:,:,i) = robot.Home.R(:,:,i)'*link_inertia(:,:,i)*robot.Home.R(:,:,i); link_inertia(:,:,i) = robot.Home.R(:,:,i)'*link_inertia(:,:,i)*robot.Home.R(:,:,i);
% Gb= [link_inertia(:,:,i),zeros(3,3);zeros(3,3),link_mass(i)*diag([1,1,1])]; Gb= [link_inertia(:,:,i),zeros(3,3);zeros(3,3),link_mass(i)*diag([1,1,1])];
% Glist = cat(3, Glist, Gb); Glist = cat(3, Glist, Gb);
% 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 = [];
@ -89,43 +89,43 @@ ddthetalist = [zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_]';
% Mlist_CG = cat(3, Mlist_CG, M); % Mlist_CG = cat(3, Mlist_CG, M);
% get the CG at the world base frame % get the CG at the world base frame
% com_pos_R1 = robot.com_pos_R1; com_pos_R1 = robot.com_pos_R1;
% com_pos_R2 = robot.com_pos_R2; com_pos_R2 = robot.com_pos_R2;
% ct=[]; ct=[];
% Mlist_CG_Base=[]; Mlist_CG_Base=[];
% for i = 1:N for i = 1:N
% if i == 1 if i == 1
% ct(:,i) = com_pos_R1(:,i); ct(:,i) = com_pos_R1(:,i);
% else elseif i< 9
% ct(:,i) = ct(:,i-1)-com_pos_R2(:,i-1)+com_pos_R1(:,i); ct(:,i) = ct(:,i-1)-com_pos_R2(:,i-1)+com_pos_R1(:,i);
% % else else
% % ct(:,i) = ct(:,i-1)-com_pos_R1(:,i-1)-[0;0;0.05896]+com_pos_R1(:,i); ct(:,i) = ct(:,i-1)-com_pos_R1(:,i-1)-[0;0;0.05896]+com_pos_R1(:,i);
% end end
% robot.Home.com(:,i) = ct(:,i); robot.Home.com(:,i) = ct(:,i);
% M_CG_Base = RpToTrans(robot.Home.R(:,:,i),robot.Home.com(:,i)); M_CG_Base = RpToTrans(robot.Home.R(:,:,i),robot.Home.com(:,i));
% Mlist_CG_Base = cat(3, Mlist_CG_Base, M_CG_Base); Mlist_CG_Base = cat(3, Mlist_CG_Base, M_CG_Base);
% end end
% % get the CG at the last GC frame % get the CG at the last GC frame
% Mlist_CG=[]; Mlist_CG=[];
% for i = 1:N for i = 1:N
% if i == 1 if i == 1
% Mlist_CG(:,:,i) = Mlist_CG_Base(:,:,i); Mlist_CG(:,:,i) = Mlist_CG_Base(:,:,i);
% else else
% Mlist_CG(:,:,i) = TransInv(Mlist_CG_Base(:,:,i-1))*Mlist_CG_Base(:,:,i); Mlist_CG(:,:,i) = TransInv(Mlist_CG_Base(:,:,i-1))*Mlist_CG_Base(:,:,i);
% end end
% 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 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
% M = robot.T(:,:,i); M = robot.T(:,:,i);
% Mlist_ED = cat(3, Mlist_ED, M); Mlist_ED = cat(3, Mlist_ED, 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_ED = cat(3, Mlist_ED, M); Mlist_ED = cat(3, Mlist_ED, M);
%TODO: Get Slist form DH table method %TODO: Get Slist form DH table method
% RRRRRRRRP % RRRRRRRRP
@ -136,42 +136,40 @@ J=sym(zeros(6,N));
exf=[0;0;0;0;0;0]; exf=[0;0;0;0;0;0];
for i = 1:length(q_J) for i = 1:length(q_J)
Js(:,:,i) = JacobianSpace(Slist, thetalist(i,:)'); [V1(:,:, i),Vd1(:,:, i),Adgab_mat(:,:,:,i),Fmat(:,:,i),taumat(:,i)] ...
VV = Js(:,:,i)*dthetalist(i,:)'; = InverseDynamics_debug(thetalist(i,:)', dthetalist(i,:)', ddthetalist(i,:)', ...
% [V1(:,:, i),Vd1(:,:, i),Adgab_mat(:,:,:,i),Fmat(:,:,i),taumat(:,i)] ... [0;0;-9.806], exf, Mlist_CG, Glist, Slist);
% = InverseDynamics_debug(thetalist(i,:)', dthetalist(i,:)', ddthetalist(i,:)', ... G(:,:,:,i) = FKinSpaceExpand(Mlist_CG, Slist, thetalist(i,:)');
% [0;0;-9.806], exf, Mlist_CG, Glist, Slist); T(:,:,:,i)=FKinSpaceExpand(Mlist_ED, Slist, thetalist(i,:)');
% G(:,:,:,i) = FKinSpaceExpand(Mlist_CG, Slist, thetalist(i,:)'); %Want to get the result from TC_delta, which means F at CG represent under frame at the last origin
% T(:,:,:,i)=FKinSpaceExpand(Mlist_ED, Slist, thetalist(i,:)'); %why we need Mlist_ED
% %Want to get the result from TC_delta, which means F at CG represent under frame at the last origin %please explain this more
% %why we need Mlist_ED F_Simpack(:,:,i) = getSimpackF(G(:,:,:,i),T(:,:,:,i),Mlist_ED,Fmat(:,:,i));
% %please explain this more
% F_Simpack(:,:,i) = getSimpackF(G(:,:,:,i),T(:,:,:,i),Mlist_ED,Fmat(:,:,i));
end end
% plot Torque % plot Torque
% above 2020b % above 2020b
% F_Simpack = pagetranspose(F_Simpack); % F_Simpack = pagetranspose(F_Simpack);
% below 2020b % below 2020b
% for i = 1:3 for i = 1:3
% subplot(3,1,i); subplot(3,1,i);
% hold on; hold on;
% %added minus, so should be the same as simpack %added minus, so should be the same as simpack
% plot(time,taumat(i+6,:)) plot(time,taumat(i+6,:))
% xlabel('time(s)') xlabel('time(s)')
% ylabel('Torque(Nm)') ylabel('Torque(Nm)')
% % plot(SPCK_Result.Crv(i+4).x,SPCK_Result.Crv(i+4).y) % plot(SPCK_Result.Crv(i+4).x,SPCK_Result.Crv(i+4).y)
% end end
%
% F_Simpack = permute(F_Simpack,[2 1 3]); F_Simpack = permute(F_Simpack,[2 1 3]);
% figure(2) figure(2)
% for i = 1:3 for i = 1:3
% subplot(3,1,i); subplot(3,1,i);
% hold on; hold on;
% %added minus, so should be the same as simpack %added minus, so should be the same as simpack
% plot(time,-reshape(F_Simpack(8,i,:),[1,length(F_Simpack)])) plot(time,-reshape(F_Simpack(8,i,:),[1,length(F_Simpack)]))
% % plot(SPCK_Result.Crv(i+4).x,SPCK_Result.Crv(i+4).y) % plot(SPCK_Result.Crv(i+4).x,SPCK_Result.Crv(i+4).y)
% end end
% Use Body Twist cal linear vel, but can't cal the end frame vel % Use Body Twist cal linear vel, but can't cal the end frame vel
% [V2] = InverseDynamics_sym(thetalist, dthetalist, ddthetalist, ... % [V2] = InverseDynamics_sym(thetalist, dthetalist, ddthetalist, ...

256
get_robot_R1000.asv
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@ -1,256 +0,0 @@
function robot = get_robot_R1000(file,opt)
switch opt.robot_def
case 'direct'
ndof = 9;
robot.ndof = ndof;
% ------------------------------------------------------------------------
% 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];
%TODO in process, seems axis_of_rot useless
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];
%DVT
% 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;
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=[];
for i = 1:8
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(:,:,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;
% verify if link_inertia is issymmetric
for i = 1:ndof
if(issymmetric(link_inertia(:,:,i))==false)
fprintf('Bad definition of inertia matrix %d\n',i)
return;
end
end
% 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
% ------------------------------------------------------------------------
% Kinematics parameters
% ------------------------------------------------------------------------
if(opt.Isreal)
%FIXME: only consider the theta temply
robot.dtheta = zeros([ndof,1]);
robot.ddtheta = zeros([ndof,1]);
robot.link_type = ['R','R','R','R','R','R','R','R','P'];
switch opt.KM_method
case 'SDH'
case 'MDH'
robot.theta = [0,0,0,0,-pi/2,0,-pi/2,-pi/2,0];
robot.a = [0,0.2,0.5,0.45,0.12,0,0,0, 0.05896];
robot.d = [0,0,0,0,0,0.28,0.40,0,0];
robot.alpha = [0,pi/2,0,0,-pi/2,-pi/2,-pi/2,-pi/2,-pi/2];
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]];
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]];
robot.theta = zeros([ndof,1]);
% robot.theta(end-1) = pi/4;
% robot.theta(3) = pi/4;
% robot.theta(4) = pi/4;
otherwise
disp('Bad opt.KM_method!')
return;
end
else
% Create symbolic generilized coordiates, their first and second deriatives
q_sym = sym('q%d',[ndof,1],'real');
qd_sym = sym('qd%d',[ndof,1],'real');
q2d_sym = sym('qdd%d',[ndof,1],'real');
robot.theta = q_sym;
%FIXME: only consider the theta temply
robot.dtheta = zeros([ndof,1]);
robot.ddtheta = zeros([ndof,1]);
% robot.dtheta = qd_sym;
% robot.ddtheta = q2d_sym;
% %R1000 ISA ??
% robot.theta(ndof) = 0;
% robot.dtheta(ndof) = 0;
% robot.ddtheta(ndof) = 0;
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]];
robot.link_type = ['R','R','R','R','R','R','R','R','P'];
case 'SDH'
case 'MDH'
robot.a = [0,0.2,0.5,0.45,0.12,0,0,0, 0.126493];
robot.d = [0,0,0,0,0,0.28,0.40,0,-0.3157];
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.d = sym(robot.d);
robot.d(ndof)=q_sym(ndof);
%init vd
robot.vd = robot.d;
robot.vd(ndof)=q_sym(ndof);
%init accd
robot.accd = robot.d;
robot.accd(ndof)=q_sym(ndof);
otherwise
disp('Bad opt.KM_method!')
return;
end
end
case 'urdf'
robot = parse_urdf(file);
case 'mat'
robot = [];
disp('TODO mat robot define options!')
otherwise
robot = [];
disp('Bad robot define options!')
return
end
%Gravity
gravity = [0;0;-9.806];
robot.gravity = gravity;

78
get_robot_R1000.m
View File

@ -6,9 +6,7 @@ switch opt.robot_def
% ------------------------------------------------------------------------ % ------------------------------------------------------------------------
% Dynamics parameters % 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]; link_mass = [17.42,7.7,2.42,5.19,2.22,1.8,2.31,1.73,1.2];
% DVT
% link_mass = [17.42,7.7,2.42,5.19,2.22,1.8,2.31,1.73,1.2];
%TODO in process, seems axis_of_rot useless %TODO in process, seems axis_of_rot useless
axis_of_rot(:,1) = [0;0;1]; axis_of_rot(:,1) = [0;0;1];
axis_of_rot(:,2) = [0;-1;0]; axis_of_rot(:,2) = [0;-1;0];
@ -20,42 +18,23 @@ switch opt.robot_def
axis_of_rot(:,8) = [0;-1;0]; axis_of_rot(:,8) = [0;-1;0];
axis_of_rot(:,9) = [0;0;0]; axis_of_rot(:,9) = [0;0;0];
%DVT com_pos_R1(:,1)=[9.7435250e+01 8.3517655e-01 1.2246547e+02]'*10^-3;
% 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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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;
% com_pos_R1(:,9)=[-9.6776846e-02 1.4179201e-01 -3.4242667e+01]'*10^-3;
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 % stack result
robot.com_pos_R1 = com_pos_R1; robot.com_pos_R1 = com_pos_R1;
robot.com_pos_R2 = com_pos_R2; robot.com_pos_R2 = com_pos_R2;
@ -65,17 +44,26 @@ switch opt.robot_def
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);
else elseif i<8
%From base to ISA Origin %From base to ISA Origin
co(:,i) = co(:,i-1)+com_pos_R1(:,i)-com_pos_R2(:,i); co(:,i) = co(:,i-1)+com_pos_R1(:,i)-com_pos_R2(:,i);
% else else
% %From base to ISA Origin %From base to ISA Origin
% co(:,i) = co(:,i-1)-[0;0;0.05896]; co(:,i) = co(:,i-1)-[0;0;0.05896];
end end
end end
co = [zeros(3,1),co]; co = [zeros(3,1),co];
% the inertia tensor wrt the frame oriented as the body frame and with the % the inertia tensor wrt the frame oriented as the body frame and with the
% origin in the COM % origin in the COM
% link_inertia(:,:,1) = diag([1,1,1]);
% link_inertia(:,:,2) = diag([1,1,1]);
% link_inertia(:,:,3) = diag([1,1,1]);
% link_inertia(:,:,4) = diag([1,1,1]);
% link_inertia(:,:,5) = diag([1,1,1]);
% link_inertia(:,:,6) = diag([1,1,1]);
% link_inertia(:,:,7) = diag([1,1,1]);
% link_inertia(:,:,8) = diag([1,1,1]);
% link_inertia(:,:,9) = diag([1,1,1]);
link_inertia(:,:,1) = [[1.1212091e+05 -1.1694021e+04 -4.7186593e+04];... link_inertia(:,:,1) = [[1.1212091e+05 -1.1694021e+04 -4.7186593e+04];...
[-1.1694021e+04 2.3289532e+05 -3.0395414e+02];... [-1.1694021e+04 2.3289532e+05 -3.0395414e+02];...
[-4.7186593e+04 -3.0395414e+02 2.0033875e+05]]*10^-6; [-4.7186593e+04 -3.0395414e+02 2.0033875e+05]]*10^-6;
@ -130,8 +118,8 @@ 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 = 1000*pi/4*ones([ndof,1]);
robot.ddtheta = zeros([ndof,1]); robot.ddtheta = 1000*pi/4*ones([ndof,1]);
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'

119
get_velocity.asv Normal file
View File

@ -0,0 +1,119 @@
function robot = get_velocity(robot, opt)
switch opt.KM_method
case 'SCREW'
Mlist_CG = robot.kine.Mlist_CG;
% Get general mass matrix
link_mass = robot.m;
com_pos = robot.com;
link_inertia = robot.I;
Slist=robot.slist;
Glist=[];
for i = 1:robot.ndof
Gb= [link_inertia(:,:,i),zeros(3,3);zeros(3,3),link_mass(i)*diag([1,1,1])];
Glist = cat(3, Glist, Gb);
% ?
% mc = robot.TW(1:3,1:3,i)*robot.m(i)*robot.com(:,i);
% robot.pi(2:4,i) = mc;
% hack: because we only know the com in the world frame
% the inv of rotation is beacause we want to the com in
% our defined frame. R*com is the wrong result
robot.pi(2:4,i) = robot.Home.R(:,:,i)'*robot.pi(2:4,i);
com_vec2mat = vec2skewSymMat(robot.com(:,i)); %com
robot.I(:,:,i) = robot.I(:,:,i)-link_mass(i)*com_vec2mat*com_vec2mat;
robot.I(:,:,i) = robot.Home.R(:,:,i)'*robot.I(:,:,i)*robot.Home.R(:,:,i);
robot.I_vec(:,i) = inertiaMatrix2Vector(robot.I(:,:,i));
robot.pi(5:end,i) = robot.I_vec(:,i);
end
if opt.Isreal
% init q
q = robot.theta;
qd = robot.dtheta;
qdd = robot.ddtheta;
[V,Vd,~,~,~] = InverseDynamics_debug(q, qd, qdd, ...
robot.gravity, [0;0;0;0;0;0],Mlist_CG, Glist, Slist);
else
% init q
q = robot.theta;
qd = robot.dtheta;
qdd = robot.ddtheta;
[V,Vd,~,~,~] = InverseDynamics_sym(q, qd, qdd, ...
robot.gravity, [0;0;0;0;0;0],Mlist_CG, Glist, Slist);
end
% FIXME: twist is not equal to velocity
% FIXME: Need to get the velocity represent at base frame
robot.vel.w = V(1:3,2:end);
for i = 1:robot.ndof
robot.vel.v(:,i) = V(4:6,i+1)-vec2skewSymMat(robot.vel.w(:,i))*robot.Home.R(:,:,i)'*;
end
% robot.vel.v = V(4:6,2:end);
robot.vel.dw = Vd(1:3,2:end);
robot.vel.dv = Vd(4:6,2:end);
% robot.vel.dv=[zeros(2,robot.ndof);-robot.gravity(end)*ones(1,robot.ndof)];
case 'SDH'
case 'MDH'
switch opt.Vel_method
case 'Direct'
Z = [0,0,1]';
w0 = zeros(3,1); dw0 = zeros(3,1);
dv0 = robot.gravity;
v0 = zeros(3,1);
link_type = robot.link_type;
% init q
q = robot.theta;
qd = robot.dtheta;
qdd = robot.ddtheta;
% for i = 1:robot.ndof
% switch link_type(i)
% case 'R'
% %Do nothing
% case 'P'
% q(i) = robot.d(i);
% qd(i) = robot.vd(i);
% qdd(i) = robot.accd(i);
% end
% end
R = robot.kine.R;
P = robot.kine.t;
% 1-n外推公式 参考robotics toolbox
%第一关节
switch link_type(1)
case 'R' %revolute
w(:,1) = R(:,:,1)' * w0 + qd(1) * Z;
v(:,1) = R(:,:,1)' * v0 + cross(w0,P(:,1));
dw(:,1) = R(:,:,1)' * dw0 + cross(R(:,:,1)' * w0, qd(1) * Z) + qdd(1) * Z;
dv(:,1) = R(:,:,1)' * (cross(dw0,P(:,1)) + cross(w0, cross(w0, P(:,1))) + dv0);
case 'P' %prismatic
w(:,1) = R(:,:,1)' * w0;
v(:,1) = R(:,:,1)' * (Z*qd(1)+v0) + cross(w0, P(:,1));
dw(:,1) = R(:,:,1)' * dw0;
dv(:,1) = R(:,:,1)' * (cross(dw0, P(:,1)) + cross(w0, cross(w0, P(:,1))) + dv0)+...
2*cross(R(:,:,1)' * w0, Z * qd(1)) + Z * qdd(1);
end
%后面n-1关节
for i = 1:robot.ndof-1
% switch link_type(i)
% case 'R' %revolute
w(:,i+1) = R(:,:,i+1)' * w(:,i) + qd(i+1) * Z ;
v(:,i+1) = R(:,:,i+1)' * v(:,i) + cross(w(:,i), P(:,i+1));
dw(:,i+1) = R(:,:,i+1)' * dw(:,i) + cross(R(:,:,i+1)' * w(:,i), qd(i+1) * Z)+ qdd(i+1) * Z;
dv(:,i+1) = R(:,:,i+1)' * (cross(dw(:,i), P(:,i+1)) + cross(w(:,i), cross(w(:,i), P(:,i+1))) + dv(:,i));
% case 'P' %prismatic
% w(:,i+1) = R(:,:,i+1)' * w(:,i);
% v(:,i+1) = R(:,:,i+1)' * (Z*qd(:,i)+v(:,i)) + cross(w(:,i), P(:,i+1));
% dw(:,i+1) = R(:,:,i+1)' * dw(:,i);
% dv(:,i+1) = R(:,:,i+1)' * (cross(dw(:,i), P(:,i+1)) + cross(w(:,i), cross(w(:,i), P(:,i+1))) + dv(:,i))+...
% 2*cross(R(:,:,i+1)' * w(:,i), Z * qd(:,i)) + Z * qdd(:,i);
% end
end
robot.vel.w = w;
robot.vel.v = v;
robot.vel.dw = dw;
robot.vel.dv = dv;
otherwise
disp('Bad opt.Vel_method!')
return;
end
otherwise
disp('Bad opt.KM_method!')
return;
end