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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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6 changed files with 460 additions and 28 deletions
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17
Identification_main.m
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@ -12,6 +12,23 @@ robot = get_robot_R1000(file,opt);
% robot.theta = [1,1,0];
robot = get_Kinematics(robot, opt);
%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;
R1000_Dynamics_num;
% opt.Isreal = false;

137
R1000_Dynamics_num.asv Normal file
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@ -0,0 +1,137 @@
%% R1000
N=9;
% traj
time = 0:0.01:1;
f=1;
q_J = sin(2*pi*f*time);
qd_J = (2*pi*f)*cos(2*pi*f*time);
qdd_J = -(2*pi*f)^2*sin(2*pi*f*time);
zero_ = zeros(1,length(q_J));
% Dynamics parameters
link_mass = robot.m;
com_pos = robot.com;
link_inertia = robot.I;
thetalist = [zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_]';
dthetalist = [zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_]';
ddthetalist = [zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_]';
% Get general mass matrix
Glist=[];
for i = 1:N
Gb= [link_inertia(:,:,i),zeros(3,3);zeros(3,3),link_mass(i)*diag([1,1,1])];
Glist = cat(3, Glist, Gb);
end
% Get the com pos transformation in each joint reference frame
Mlist_CG = [];
for i = 0:N-1
if i == 0
M = robot.T(:,:,i+1)*transl(com_pos(:,i+1));
else
M = TransInv(transl(com_pos(:,i)))*robot.T(:,:,i+1)*transl(com_pos(:,i+1));
end
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);
% Get the com pos transformation in each joint reference frame
% FIXME: BUG here
% 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
% 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=[];
% for i = 1:N
% if i == 1
% M = [diag([1,1,1]),com_pos_R1(:,i);zeros(1,3),1];
% elseif i<=8
% M = RpToTrans(TransToRp(robot.T(:,:,i)),TransToRp(robot.T(:,:,i))*(-com_pos_R2(:,i-1)+com_pos_R1(:,i)));
% 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)));
% end
% 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);
% Get the end efforce transformation in each joint reference frame
Mlist_ED = [];
for i = 1:N
M = robot.T(:,:,i);
Mlist_ED = cat(3, Mlist_ED, M);
end
M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
Mlist_ED = cat(3, Mlist_ED, M);
%TODO: Get Slist form DH table method
% RRRRRRRRP
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]];
Vlinear=sym(zeros(3,3));
J=sym(zeros(6,N));
exf=[0;0;0;0;0;0];
for i = 1:length(q_J)
[V1(:,:, i),Vd1(:,:, i),Adgab_mat(:,:,:,i),Fmat(:,:,i),taumat(:,i)] ...
= InverseDynamics_debug(thetalist(i,:)', dthetalist(i,:)', ddthetalist(i,:)', ...
[0;0;-9.806], exf, Mlist_CG, Glist, Slist);
G(:,:,:,i) = FKinSpaceExpand(Mlist_CG, Slist, thetalist(i,:)');
T(:,:,:,i)=FKinSpaceExpand(Mlist_ED, Slist, thetalist(i,:)');
%Want to get the result from TC_delta, which means F at CG represent under frame at the last origin
F_Simpack(:,:,i) = getSimpackF(G(:,:,:,i),T(:,:,:,i),Mlist_ED,Fmat(:,:,i));
end
% plot Torque
% above 2020b
% F_Simpack = pagetranspose(F_Simpack);
% below 2020b
for i = 1:3
subplot(3,1,i);
hold on;
%added minus, so should be the same as simpack
plot(time,taumat(i+6,:))
xlabel('time(s)')
ylabel('Torque(Nm)')
% plot(SPCK_Result.Crv(i+4).x,SPCK_Result.Crv(i+4).y)
end
F_Simpack = permute(F_Simpack,[2 1 3]);
figure(2)
for i = 1:3
subplot(3,1,i);
hold on;
%added minus, so should be the same as 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)
end
% Use Body Twist cal linear vel, but can't cal the end frame vel
% [V2] = InverseDynamics_sym(thetalist, dthetalist, ddthetalist, ...
% [0;0;0], exf, Mlist, Glist, Slist);
% j=1;
% Vlinear(:, j+1) = BodyVelToLinearVel(V2(:,j+1),G(:,:,j)*M12);
% j=2;
% Vlinear(:, j+1) = BodyVelToLinearVel(V2(:,j+1),G(:,:,j)*M23);

45
R1000_Dynamics_num.m
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@ -24,22 +24,51 @@ for i = 1:N
end
% Get the com pos transformation in each joint reference frame
Mlist_CG = [];
% Mlist_CG = [];
% for i = 0:N-1
% if i == 0
% M = robot.T(:,:,i+1)*transl(com_pos(:,i+1));
% else
% M = TransInv(transl(com_pos(:,i)))*robot.T(:,:,i+1)*transl(com_pos(:,i+1));
% end
% 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);
% Get the com pos transformation in each joint reference frame
% FIXME: BUG here
Mlist_CG=[];
for i = 0:N-1
if i == 0
M = robot.T(:,:,i+1)*transl(com_pos(:,i+1));
M=robot.T(:,:,i+1)*transl(com_pos(:,i+1));
else
M = TransInv(T(:,:,i+1))*robot.T(:,:,i+1)*transl(com_pos(:,i+1));
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,rotation_i*com_pos(:,i)))*robot.T(:,:,i+1)*RpToTrans(rotation_j,rotation_j*com_pos(:,i+1));
end
Mlist_CG = cat(3, Mlist_CG, M);
end
for i = i:N
M = transl(com_pos(:,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=[];
% for i = 1:N
% if i == 1
% M = [diag([1,1,1]),com_pos_R1(:,i);zeros(1,3),1];
% elseif i<=8
% M = RpToTrans(TransToRp(robot.T(:,:,i)),TransToRp(robot.T(:,:,i))*(-com_pos_R2(:,i-1)+com_pos_R1(:,i)));
% 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)));
% end
% 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);
% Get the end efforce transformation in each joint reference frame
Mlist_ED = [];
for i = 1:N
@ -72,6 +101,8 @@ for i = 1:length(q_J)
G(:,:,:,i) = FKinSpaceExpand(Mlist_CG, Slist, thetalist(i,:)');
T(:,:,:,i)=FKinSpaceExpand(Mlist_ED, Slist, thetalist(i,:)');
%Want to get the result from TC_delta, which means F at CG represent under frame at the last origin
%why we need Mlist_ED
%please explain this more
F_Simpack(:,:,i) = getSimpackF(G(:,:,:,i),T(:,:,:,i),Mlist_ED,Fmat(:,:,i));
end
% plot Torque

175
get_robot_R1000.asv Normal file
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@ -0,0 +1,175 @@
function robot = get_robot_R1000(file,opt)
switch opt.robot_def
case 'direct'
ndof = 9;
robot.ndof = ndof;
% Kinematics parameters
if(opt.Isreal)
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];
robot.link_type = ['R','R','R','R','R','R','R','R','P'];
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;
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 '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'];
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;

57
get_robot_R1000.m
View File

@ -51,7 +51,7 @@ switch opt.robot_def
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];
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
axis_of_rot(:,1) = [0;0;1];
axis_of_rot(:,2) = [0;-1;0];
@ -63,15 +63,15 @@ switch opt.robot_def
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) = [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;
@ -82,17 +82,36 @@ switch opt.robot_def
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]'*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
% 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) = 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;

53
untitled2.m Normal file
View File

@ -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