feature/R1000-identification #2
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@ -12,6 +12,23 @@ robot = get_robot_R1000(file,opt);
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% robot.theta = [1,1,0];
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% robot.theta = [1,1,0];
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robot = get_Kinematics(robot, opt);
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robot = get_Kinematics(robot, opt);
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%TODO verify kinematics via robotics toolbox or other software result
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%TODO verify kinematics via robotics toolbox or other software result
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com_pos_R1(:,1)=[9.7435250e+01 8.3517655e-01 1.2246547e+02]'*10^-3;
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com_pos_R2(:,1)=[-1.0040117e+02 -9.4164823e+01 -3.4522260e+01]'*10^-3;
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com_pos_R1(:,2)=[3.7345395e+02 -5.5328829e+01 -4.4313141e-02]'*10^-3;
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com_pos_R2(:,2)=[ -1.2654643e+02 9.6371171e+01 -4.4094190e-02]'*10^-3;
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com_pos_R1(:,3)=[1.8811711e+02 -7.9651429e+00 -4.9225523e-04 ]'*10^-3;
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com_pos_R2(:,3)=[-2.6188289e+02 2.8348571e+00 -4.9225523e-04 ]'*10^-3;
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com_pos_R1(:,4)=[ 5.4048685e+01 5.8463901e+01 -5.0915631e+00 ]'*10^-3;
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com_pos_R2(:,4)=[ -6.5951315e+01 -9.0360991e+00 5.2908437e+01]'*10^-3;
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com_pos_R1(:,5)=[1.3028528e+02 4.8953539e-02 4.6198421e+01]'*10^-3;
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com_pos_R2(:,5)=[-9.5814715e+01 4.8953539e-02 -1.2301579e+01 ]'*10^-3;
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com_pos_R1(:,6)=[4.9059639e+01 5.9928547e-02 -2.8858572e+01]'*10^-3;
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com_pos_R2(:,6)=[-4.7403608e+00 5.9928547e-02 6.2741428e+01]'*10^-3;
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com_pos_R1(:,7)=[2.3210318e-02 -9.5031144e+00 -1.0242124e+02]'*10^-3;
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com_pos_R2(:,7)=[2.3210318e-02 -9.5031144e+00 2.0257876e+02 ]'*10^-3;
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com_pos_R1(:,8)=[-3.6571935e+01 -3.6282658e-01 -4.7124267e+01]'*10^-3;
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com_pos_R2(:,8)=[2.2355855e+02 -3.6281380e-01 1.4875409e+01]'*10^-3; % don't use
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com_pos_R1(:,9)=[-9.6776846e-02 1.4179201e-01 -3.4242667e+01]'*10^-3;
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R1000_Dynamics_num;
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R1000_Dynamics_num;
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% opt.Isreal = false;
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% opt.Isreal = false;
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@ -0,0 +1,137 @@
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%% R1000
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N=9;
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% traj
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time = 0:0.01:1;
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f=1;
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q_J = sin(2*pi*f*time);
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qd_J = (2*pi*f)*cos(2*pi*f*time);
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qdd_J = -(2*pi*f)^2*sin(2*pi*f*time);
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zero_ = zeros(1,length(q_J));
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% Dynamics parameters
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link_mass = robot.m;
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com_pos = robot.com;
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link_inertia = robot.I;
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thetalist = [zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_]';
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dthetalist = [zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_]';
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ddthetalist = [zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_]';
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% Get general mass matrix
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Glist=[];
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for i = 1:N
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Gb= [link_inertia(:,:,i),zeros(3,3);zeros(3,3),link_mass(i)*diag([1,1,1])];
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Glist = cat(3, Glist, Gb);
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end
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% Get the com pos transformation in each joint reference frame
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Mlist_CG = [];
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for i = 0:N-1
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if i == 0
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M = robot.T(:,:,i+1)*transl(com_pos(:,i+1));
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else
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M = TransInv(transl(com_pos(:,i)))*robot.T(:,:,i+1)*transl(com_pos(:,i+1));
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end
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Mlist_CG = cat(3, Mlist_CG, M);
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end
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M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
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Mlist_CG = cat(3, Mlist_CG, M);
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% Get the com pos transformation in each joint reference frame
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% FIXME: BUG here
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% Mlist_CG=[];
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% for i = 0:N-1
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% if i == 0
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% M=robot.T(:,:,i+1)*transl(com_pos(:,i+1));
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% else
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% rotation_i = diag([1,1,1]);
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% for j = 1:i
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% rotation_i = rotation_i*TransToRp(robot.T(:,:,i));
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% rotation_j = rotation_i*TransToRp(robot.T(:,:,i+1));
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% end
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% M = TransInv(RpToTrans(rotation_i,com_pos(:,i)))*robot.T(:,:,i+1)*RpToTrans(rotation_j,com_pos(:,i+1));
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% end
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% Mlist_CG = cat(3, Mlist_CG, M);
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% end
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% M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
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% Mlist_CG = cat(3, Mlist_CG, M);
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% Mlist_CG=[];
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% for i = 1:N
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% if i == 1
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% M = [diag([1,1,1]),com_pos_R1(:,i);zeros(1,3),1];
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% elseif i<=8
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% M = RpToTrans(TransToRp(robot.T(:,:,i)),TransToRp(robot.T(:,:,i))*(-com_pos_R2(:,i-1)+com_pos_R1(:,i)));
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% elseif i==9
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% M = RpToTrans(TransToRp(robot.T(:,:,i)),TransToRp(robot.T(:,:,i))*(-[0;0;0.05896]+com_pos_R1(:,i-1)+com_pos_R1(:,i)));
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% end
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% Mlist_CG = cat(3, Mlist_CG, M);
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% end
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% M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
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% Mlist_CG = cat(3, Mlist_CG, M);
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% Get the end efforce transformation in each joint reference frame
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Mlist_ED = [];
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for i = 1:N
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M = robot.T(:,:,i);
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Mlist_ED = cat(3, Mlist_ED, M);
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end
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M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
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Mlist_ED = cat(3, Mlist_ED, M);
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%TODO: Get Slist form DH table method
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% RRRRRRRRP
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Slist=[[0;0;1;0;0;0],...
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[0;-1;0;cross(-[0;-1;0],[0.2;0;0])]...
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[0;-1;0;cross(-[0;-1;0],[0.2+0.5;0;0])]...
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[0;-1;0;cross(-[0;-1;0],[0.2+0.5+0.45;0;0])]...
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[0;0;1;cross(-[0;0;1],[0.2+0.5+0.45+0.12;0;0])]...
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[1;0;0;cross(-[1;0;0],[0.2+0.5+0.45+0.12+0.28;0;0])]...
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[0;0;-1;cross(-[0;0;-1],[0.2+0.5+0.45+0.12+0.28;0;-0.4])]...
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[0;-1;0;cross(-[0;-1;0],[0.2+0.5+0.45+0.12+0.28;0;-0.4])]...
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[0;0;0;1;0;0]];
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Vlinear=sym(zeros(3,3));
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J=sym(zeros(6,N));
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exf=[0;0;0;0;0;0];
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for i = 1:length(q_J)
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[V1(:,:, i),Vd1(:,:, i),Adgab_mat(:,:,:,i),Fmat(:,:,i),taumat(:,i)] ...
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= InverseDynamics_debug(thetalist(i,:)', dthetalist(i,:)', ddthetalist(i,:)', ...
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[0;0;-9.806], exf, Mlist_CG, Glist, Slist);
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G(:,:,:,i) = FKinSpaceExpand(Mlist_CG, Slist, thetalist(i,:)');
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T(:,:,:,i)=FKinSpaceExpand(Mlist_ED, Slist, thetalist(i,:)');
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%Want to get the result from TC_delta, which means F at CG represent under frame at the last origin
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F_Simpack(:,:,i) = getSimpackF(G(:,:,:,i),T(:,:,:,i),Mlist_ED,Fmat(:,:,i));
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end
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% plot Torque
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% above 2020b
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% F_Simpack = pagetranspose(F_Simpack);
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% below 2020b
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for i = 1:3
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subplot(3,1,i);
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hold on;
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%added minus, so should be the same as simpack
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plot(time,taumat(i+6,:))
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xlabel('time(s)')
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ylabel('Torque(Nm)')
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% plot(SPCK_Result.Crv(i+4).x,SPCK_Result.Crv(i+4).y)
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end
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F_Simpack = permute(F_Simpack,[2 1 3]);
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figure(2)
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for i = 1:3
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subplot(3,1,i);
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hold on;
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%added minus, so should be the same as simpack
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plot(time,-reshape(F_Simpack(8,i,:),[1,length(F_Simpack)]))
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% plot(SPCK_Result.Crv(i+4).x,SPCK_Result.Crv(i+4).y)
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end
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% Use Body Twist cal linear vel, but can't cal the end frame vel
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% [V2] = InverseDynamics_sym(thetalist, dthetalist, ddthetalist, ...
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% [0;0;0], exf, Mlist, Glist, Slist);
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% j=1;
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% Vlinear(:, j+1) = BodyVelToLinearVel(V2(:,j+1),G(:,:,j)*M12);
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% j=2;
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% Vlinear(:, j+1) = BodyVelToLinearVel(V2(:,j+1),G(:,:,j)*M23);
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@ -24,22 +24,51 @@ for i = 1:N
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end
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end
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% Get the com pos transformation in each joint reference frame
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% Get the com pos transformation in each joint reference frame
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% Mlist_CG = [];
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% for i = 0:N-1
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% if i == 0
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% M = robot.T(:,:,i+1)*transl(com_pos(:,i+1));
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% else
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% M = TransInv(transl(com_pos(:,i)))*robot.T(:,:,i+1)*transl(com_pos(:,i+1));
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% end
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% Mlist_CG = cat(3, Mlist_CG, M);
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% end
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% M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
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% Mlist_CG = cat(3, Mlist_CG, M);
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% Get the com pos transformation in each joint reference frame
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% FIXME: BUG here
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Mlist_CG=[];
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Mlist_CG=[];
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for i = 0:N-1
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for i = 0:N-1
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if i == 0
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if i == 0
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M=robot.T(:,:,i+1)*transl(com_pos(:,i+1));
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M=robot.T(:,:,i+1)*transl(com_pos(:,i+1));
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else
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else
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M = TransInv(T(:,:,i+1))*robot.T(:,:,i+1)*transl(com_pos(:,i+1));
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rotation_i = diag([1,1,1]);
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for j = 1:i
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rotation_i = rotation_i*TransToRp(robot.T(:,:,i));
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rotation_j = rotation_i*TransToRp(robot.T(:,:,i+1));
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end
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end
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Mlist_CG = cat(3, Mlist_CG, M);
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M = TransInv(RpToTrans(rotation_i,rotation_i*com_pos(:,i)))*robot.T(:,:,i+1)*RpToTrans(rotation_j,rotation_j*com_pos(:,i+1));
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end
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end
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for i = i:N
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M = transl(com_pos(:,i))
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Mlist_CG = cat(3, Mlist_CG, M);
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Mlist_CG = cat(3, Mlist_CG, M);
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end
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end
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M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
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M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
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Mlist_CG = cat(3, Mlist_CG, M);
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Mlist_CG = cat(3, Mlist_CG, M);
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% Mlist_CG=[];
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% for i = 1:N
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% if i == 1
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% M = [diag([1,1,1]),com_pos_R1(:,i);zeros(1,3),1];
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% elseif i<=8
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% M = RpToTrans(TransToRp(robot.T(:,:,i)),TransToRp(robot.T(:,:,i))*(-com_pos_R2(:,i-1)+com_pos_R1(:,i)));
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% elseif i==9
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% M = RpToTrans(TransToRp(robot.T(:,:,i)),TransToRp(robot.T(:,:,i))*(-[0;0;0.05896]+com_pos_R1(:,i-1)+com_pos_R1(:,i)));
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% end
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% Mlist_CG = cat(3, Mlist_CG, M);
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% end
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% M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
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% Mlist_CG = cat(3, Mlist_CG, M);
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% Get the end efforce transformation in each joint reference frame
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% Get the end efforce transformation in each joint reference frame
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Mlist_ED = [];
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Mlist_ED = [];
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for i = 1:N
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for i = 1:N
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@ -72,6 +101,8 @@ for i = 1:length(q_J)
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G(:,:,:,i) = FKinSpaceExpand(Mlist_CG, Slist, thetalist(i,:)');
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G(:,:,:,i) = FKinSpaceExpand(Mlist_CG, Slist, thetalist(i,:)');
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T(:,:,:,i)=FKinSpaceExpand(Mlist_ED, Slist, thetalist(i,:)');
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T(:,:,:,i)=FKinSpaceExpand(Mlist_ED, Slist, thetalist(i,:)');
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%Want to get the result from TC_delta, which means F at CG represent under frame at the last origin
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%Want to get the result from TC_delta, which means F at CG represent under frame at the last origin
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%why we need Mlist_ED
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%please explain this more
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F_Simpack(:,:,i) = getSimpackF(G(:,:,:,i),T(:,:,:,i),Mlist_ED,Fmat(:,:,i));
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F_Simpack(:,:,i) = getSimpackF(G(:,:,:,i),T(:,:,:,i),Mlist_ED,Fmat(:,:,i));
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end
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end
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% plot Torque
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% plot Torque
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@ -0,0 +1,175 @@
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function robot = get_robot_R1000(file,opt)
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switch opt.robot_def
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case 'direct'
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ndof = 9;
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robot.ndof = ndof;
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% Kinematics parameters
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if(opt.Isreal)
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switch opt.KM_method
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case 'SDH'
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case 'MDH'
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robot.theta = [0,0,0,0,-pi/2,0,-pi/2,-pi/2,0];
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robot.a = [0,0.2,0.5,0.45,0.12,0,0,0, 0.05896];
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robot.d = [0,0,0,0,0,0.28,0.40,0,0];
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robot.alpha = [0,pi/2,0,0,-pi/2,-pi/2,-pi/2,-pi/2,-pi/2];
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robot.link_type = ['R','R','R','R','R','R','R','R','P'];
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otherwise
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disp('Bad opt.KM_method!')
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return;
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end
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else
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% Create symbolic generilized coordiates, their first and second deriatives
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q_sym = sym('q%d',[ndof,1],'real');
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qd_sym = sym('qd%d',[ndof,1],'real');
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q2d_sym = sym('qdd%d',[ndof,1],'real');
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robot.theta = q_sym;
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robot.dtheta = qd_sym;
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robot.ddtheta = q2d_sym;
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%R1000 ISA
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robot.theta(ndof) = 0;
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robot.dtheta(ndof) = 0;
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robot.ddtheta(ndof) = 0;
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switch opt.KM_method
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case 'SDH'
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case 'MDH'
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robot.a = [0,0.2,0.5,0.45,0.12,0,0,0, 0.126493];
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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'];
|
||||||
|
otherwise
|
||||||
|
disp('Bad opt.KM_method!')
|
||||||
|
return;
|
||||||
|
end
|
||||||
|
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);
|
||||||
|
end
|
||||||
|
% Dynamics parameters
|
||||||
|
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];
|
||||||
|
% 画图
|
||||||
|
% com_pos(:,1) = [0;0;0.122];
|
||||||
|
% com_pos(:,2) = [0.373;0;0];
|
||||||
|
% com_pos(:,3) = [0.188;0;0];
|
||||||
|
% com_pos(:,4) = [0.05;0;-0.05];
|
||||||
|
% com_pos(:,5) = [0;0.13;0];
|
||||||
|
% com_pos(:,6) = [0;0.028;0.049];
|
||||||
|
% com_pos(:,7) = [0;0;0.102];
|
||||||
|
% com_pos(:,8) = [0;0.06;0];
|
||||||
|
% com_pos(:,9) = [0;0;0];
|
||||||
|
|
||||||
|
% com_pos(:,1) = [9.7435250e+01 8.3517655e-01 1.2246547e+02]'*10^-3;
|
||||||
|
% com_pos(:,2) = [3.7345395e+02 4.4313141e-02 -5.5328829e+01]'*10^-3;
|
||||||
|
% com_pos(:,3) = [1.8811711e+02 4.9225523e-04 -7.9651429e+00]'*10^-3;
|
||||||
|
% com_pos(:,4) = [5.4048685e+01 5.8463901e+01 -5.0915631e+00]'*10^-3;
|
||||||
|
% com_pos(:,5) = [1.3028528e+02 4.8953539e-02 4.6198421e+01]'*10^-3;
|
||||||
|
% com_pos(:,6) = [4.9059639e+01 5.9928547e-02 -2.8858572e+01]'*10^-3;
|
||||||
|
% com_pos(:,7) = [2.3210318e-02 -9.5031144e+00 -1.0242124e+02]'*10^-3;
|
||||||
|
% com_pos(:,8) = [-3.6571935e+01 -3.6282658e-01 -4.7124267e+01]'*10^-3;
|
||||||
|
% com_pos(:,9) = [-9.6776846e-02 1.4179201e-01 -3.4242667e+01]'*10^-3;
|
||||||
|
|
||||||
|
com_pos_R1(:,1)=[9.7435250e+01 8.3517655e-01 1.2246547e+02]';
|
||||||
|
com_pos_R2(:,1)=[-1.0040117e+02 -9.4164823e+01 -3.4522260e+01]';
|
||||||
|
com_pos_R1(:,2)=[3.7345395e+02 -5.5328829e+01 -4.4313141e-02]';
|
||||||
|
com_pos_R2(:,2)=[ -1.2654643e+02 9.6371171e+01 -4.4094190e-02]';
|
||||||
|
com_pos_R1(:,3)=[1.8811711e+02 -7.9651429e+00 -4.9225523e-04 ]';
|
||||||
|
com_pos_R2(:,3)=[-2.6188289e+02 2.8348571e+00 -4.9225523e-04 ]';
|
||||||
|
com_pos_R1(:,4)=[ 5.4048685e+01 5.8463901e+01 -5.0915631e+00 ]';
|
||||||
|
com_pos_R2(:,4)=[ -6.5951315e+01 -9.0360991e+00 5.2908437e+01]';
|
||||||
|
com_pos_R1(:,5)=[1.3028528e+02 4.8953539e-02 4.6198421e+01]';
|
||||||
|
com_pos_R2(:,5)=[-9.5814715e+01 4.8953539e-02 -1.2301579e+01 ]';
|
||||||
|
com_pos_R1(:,6)=[4.9059639e+01 5.9928547e-02 -2.8858572e+01]';
|
||||||
|
com_pos_R2(:,6)=[-4.7403608e+00 5.9928547e-02 6.2741428e+01]';
|
||||||
|
com_pos_R1(:,7)=[2.3210318e-02 -9.5031144e+00 -1.0242124e+02]';
|
||||||
|
com_pos_R2(:,7)=[2.3210318e-02 -9.5031144e+00 2.0257876e+02 ]';
|
||||||
|
com_pos_R1(:,8)=[-3.6571935e+01 -3.6282658e-01 -4.7124267e+01]';
|
||||||
|
com_pos_R2(:,8)=[2.2355855e+02 -3.6281380e-01 1.4875409e+01]';
|
||||||
|
com_pos_R1(:,9)=[-9.6776846e-02 1.4179201e-01 -3.4242667e+01]';
|
||||||
|
|
||||||
|
% the inertia tensor wrt the frame oriented as the body frame and with the
|
||||||
|
% 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];...
|
||||||
|
[-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
|
||||||
|
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
|
||||||
|
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;9.8];
|
||||||
|
robot.gravity = gravity;
|
||||||
|
|
@ -51,7 +51,7 @@ switch opt.robot_def
|
||||||
robot.accd(ndof)=q_sym(ndof);
|
robot.accd(ndof)=q_sym(ndof);
|
||||||
end
|
end
|
||||||
% Dynamics parameters
|
% Dynamics parameters
|
||||||
link_mass = [17.42,7.7,2.42,5.19,2.22,1.8,2.31,1.73,1.2];
|
link_mass = [17.42,7.7,2.42,5.19,2.22,1.8,2.31,1.73+1.2,0];
|
||||||
%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];
|
||||||
|
|
@ -82,6 +82,25 @@ switch opt.robot_def
|
||||||
com_pos(:,7) = [2.3210318e-02 -9.5031144e+00 -1.0242124e+02]'*10^-3;
|
com_pos(:,7) = [2.3210318e-02 -9.5031144e+00 -1.0242124e+02]'*10^-3;
|
||||||
com_pos(:,8) = [-3.6571935e+01 -3.6282658e-01 -4.7124267e+01]'*10^-3;
|
com_pos(:,8) = [-3.6571935e+01 -3.6282658e-01 -4.7124267e+01]'*10^-3;
|
||||||
com_pos(:,9) = [-9.6776846e-02 1.4179201e-01 -3.4242667e+01]'*10^-3;
|
com_pos(:,9) = [-9.6776846e-02 1.4179201e-01 -3.4242667e+01]'*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_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)=[0 0 0]'*10^-3;
|
||||||
|
|
||||||
% 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(:,:,1) = diag([1,1,1]);
|
||||||
|
|
|
||||||
|
|
@ -0,0 +1,53 @@
|
||||||
|
Mlist_CG=[]
|
||||||
|
for i = 0:N-1
|
||||||
|
if i == 0
|
||||||
|
M=robot.T(:,:,i+1)*transl(com_pos(:,i+1));
|
||||||
|
else
|
||||||
|
% rotation_i = TransToRp(robot.T(:,:,i+1))
|
||||||
|
M = TransInv(transl(com_pos(:,i)))*robot.T(:,:,i+1)*transl(com_pos(:,i+1));
|
||||||
|
end
|
||||||
|
Mlist_CG = cat(3, Mlist_CG, M);
|
||||||
|
end
|
||||||
|
%%
|
||||||
|
Mlist_CG=[]
|
||||||
|
for i = 0:N-1
|
||||||
|
if i == 0
|
||||||
|
M=robot.T(:,:,i+1)*transl(com_pos(:,i+1));
|
||||||
|
else
|
||||||
|
rotation_i = diag([1,1,1]);
|
||||||
|
for j = 1:i
|
||||||
|
rotation_i = rotation_i*TransToRp(robot.T(:,:,i));
|
||||||
|
rotation_j = rotation_i*TransToRp(robot.T(:,:,i+1));
|
||||||
|
end
|
||||||
|
M = TransInv(RpToTrans(rotation_i,com_pos(:,i)))*robot.T(:,:,i+1)*RpToTrans(rotation_j,com_pos(:,i+1));
|
||||||
|
end
|
||||||
|
Mlist_CG = cat(3, Mlist_CG, M);
|
||||||
|
end
|
||||||
|
%%
|
||||||
|
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;
|
||||||
|
com_pos_R1(:,9)=[-9.6776846e-02 1.4179201e-01 -3.4242667e+01]'*10^-3;
|
||||||
|
ct=[]
|
||||||
|
for i = 1:7
|
||||||
|
if i == 1
|
||||||
|
ct(:,i) = com_pos_R1(:,i);
|
||||||
|
elseif i< 8
|
||||||
|
ct(:,i) = -com_pos_R2(:,i-1)+com_pos_R1(:,i);
|
||||||
|
elseif i==8
|
||||||
|
% ct(:,)
|
||||||
|
end
|
||||||
|
end
|
||||||
Loading…
Reference in New Issue