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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
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1 changed files with 7 additions and 2 deletions
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7
get_GCTraj_R1000_DVT.m
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@ -2,8 +2,9 @@
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:\GitLab\gtools\development_files\SLX_Development\R1000\SA System\lab12.mat"); load("C:\Users\cosmicpower\AppData\Roaming\123pan\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];
isCurrentSensor = true;
% J9 traj % J9 traj
i = 9; i = 9;
fileData=eval(strcat('fileData', num2str(i))); fileData=eval(strcat('fileData', num2str(i)));
@ -33,7 +34,11 @@ for i=8:-1:2
data = fileData.data; data = fileData.data;
dataLength = length(data); dataLength = length(data);
d1Length = floor(length(data) / 2); d1Length = floor(length(data) / 2);
if(isCurrentSensor)
idntfcnTrjctry(i).tau = data(:,i+1+11*2)*gearRatio(i)*motorConstant(i);
else
idntfcnTrjctry(i).tau = data(:,6*(i+1)+11*3)*sensorDir(i); idntfcnTrjctry(i).tau = data(:,6*(i+1)+11*3)*sensorDir(i);
end
idntfcnTrjctry(i).tau = idntfcnTrjctry(i).tau'; idntfcnTrjctry(i).tau = idntfcnTrjctry(i).tau';
q=zeros(robot.ndof,dataLength);qd=q;qdd=qd; q=zeros(robot.ndof,dataLength);qd=q;qdd=qd;
for j=1:robot.ndof for j=1:robot.ndof