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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 +15 -15
4 changed files with 15 additions and 15 deletions
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12
Identification_main.m
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@ -5,7 +5,7 @@ opt.KM_method = 'SCREW';
opt.Vel_method = 'Direct'; opt.Vel_method = 'Direct';
opt.LD_method = 'Direct'; opt.LD_method = 'Direct';
opt.debug = false; opt.debug = false;
opt.robotName = 'R1000_EVT'; opt.robotName = 'R1000_DVT';
opt.reGenerate = false; opt.reGenerate = false;
opt.Isreal = true; opt.Isreal = true;
opt.isJointTorqueSensor = true; opt.isJointTorqueSensor = true;
@ -20,16 +20,16 @@ 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);
% readDataFile; % readDataFile;
% robot.posData = posData; % robot.posData = posData;
% robot.currentData = currentData; % robot.currentData = currentData;
% 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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@ -7,15 +7,15 @@ q_J = sin(2*pi*f*time);
qd_J = (2*pi*f)*cos(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); qdd_J = -(2*pi*f)^2*sin(2*pi*f*time);
zero_ = zeros(1,length(q_J)); zero_ = zeros(1,length(q_J));
q_J = pi/4*ones(1,length(q_J)); q_J = 0.3*ones(1,length(q_J));
% Dynamics parameters % Dynamics parameters
link_mass = robot.m; 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_;zero_;zero_;zero_;zero_;zero_;zero_;q_J]';
dthetalist = 1000*[q_J;q_J;q_J;q_J;q_J;q_J;q_J;q_J;q_J]'; dthetalist = [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]'; ddthetalist = [zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_]';
% Get general mass matrix % Get general mass matrix
Glist=[]; Glist=[];

6
codegen/base_regressor_R1000_DVT.m
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@ -4,15 +4,15 @@ opt.KM_method = 'SCREW';
opt.Vel_method = 'Direct'; opt.Vel_method = 'Direct';
opt.LD_method = 'Direct'; opt.LD_method = 'Direct';
opt.debug = false; opt.debug = false;
opt.robotName = 'R1000_EVT'; opt.robotName = 'R1000_DVT';
opt.reGenerate = false; opt.reGenerate = false;
opt.Isreal = true; opt.Isreal = true;
opt.isJointTorqueSensor = true; opt.isJointTorqueSensor = true;
opt.isSixAxisFTSensor = false; opt.isSixAxisFTSensor = false;
file=[]; file=[];
robot = get_robot_R1000_EVT(theta,zeros(size(dtheta)),zeros(size(ddtheta)),file,opt); robot = get_robot_R1000_DVT(theta,zeros(size(dtheta)),zeros(size(ddtheta)),file,opt);
robot = get_Kinematics_EVT(robot, opt); robot = get_Kinematics_R1000_DVT(robot, opt);
robot = get_velocity(robot, opt); robot = get_velocity(robot, opt);
robot = get_regressor(robot, opt); robot = get_regressor(robot, opt);
% get base params % get base params

4
codegen/standard_regressor_R1000_DVT.m
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@ -11,8 +11,8 @@ opt.isJointTorqueSensor = false;
opt.isSixAxisFTSensor = true; opt.isSixAxisFTSensor = true;
file=[]; file=[];
robot = get_robot_R1000_EVT(theta,zeros(size(dtheta)),zeros(size(ddtheta)),file,opt); robot = get_robot_R1000_DVT(theta,zeros(size(dtheta)),zeros(size(ddtheta)),file,opt);
robot = get_Kinematics_EVT(robot, opt); robot = get_Kinematics_R1000_DVT(robot, opt);
robot = get_velocity(robot, opt); robot = get_velocity(robot, opt);
robot = get_regressor(robot, opt); robot = get_regressor(robot, opt);
standard_regrssor = robot.regressor.K; standard_regrssor = robot.regressor.K;