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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 +41 -38
2 changed files with 41 additions and 38 deletions
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2
Identification_main.m
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@ -13,7 +13,7 @@ robot = get_robot_R1000(file,opt);
robot = get_Kinematics(robot, opt);
%TODO verify kinematics via robotics toolbox or other software result
R1000_Dynamics_num;
R1000_Dynamics;
% opt.Isreal = false;
% robot = get_velocity(robot, opt);
% robot = get_regressor(robot,opt);

77
R1000_Dynamics.m
View File

@ -1,18 +1,16 @@
%% R1000
N=9;
% traj
time = 0:0.01:2;
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;
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 = robot.I;
q_sym = sym('q%d',[N,1],'real');
qd_sym = sym('qd%d',[N,1],'real');
@ -29,15 +27,29 @@ for i = 1:N
end
% Get the com pos transformation in each joint reference frame
Mlist = [];
for i = 1:N
M = robot.T(:,:,i)+transl(com_pos(i));
Mlist = cat(3, Mlist, M);
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 = cat(3, Mlist, M);
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])]...
@ -46,7 +58,7 @@ Slist=[[0;0;1;0;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;cross(-[0;0;0],[0.2+0.5+0.45+0.12+0.28-0.3157;0;-0.4-0.126493])]];
[0;0;0;1;0;0]];
Vlinear=sym(zeros(3,3));
J=sym(zeros(6,N));
@ -54,32 +66,23 @@ exf=[0;0;0;0;0;0];
[V1,Vd1,Adgab_mat,Fmat,tau_mat] ...
= InverseDynamics_sym(thetalist, dthetalist, ddthetalist, ...
[0;0;-9.8], exf, Mlist, Glist, Slist);
G = FKinSpaceExpand_Sym(Mlist, Slist, thetalist);
% Get the end efforce transformation in each joint reference frame
Mlist = [];
for i = 1:N+1
M = robot.T(:,:,i);
Mlist = cat(3, Mlist, M);
end
M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
Mlist = cat(3, Mlist, M);
T=FKinSpaceExpand_Sym(Mlist, Slist, thetalist);
F_Simpack = getSimpackF_Sym(G,T,Mlist,Fmat);
[0;0;-9.8], exf, Mlist_CG, Glist, Slist);
% G = FKinSpaceExpand_Sym(Mlist_CG, Slist, thetalist);
% T=FKinSpaceExpand_Sym(Mlist_ED, Slist, thetalist);
% F_Simpack = getSimpackF_Sym(G,T,Mlist_ED,Fmat);
%Gen Files
matlabFunction(F_Simpack,'File',sprintf('autogen/standard_dynamics_%s',opt.robotName),...
matlabFunction(Fmat,'File',sprintf('autogen/standard_dynamics_%s',opt.robotName),...
'Vars',{q_sym,qd_sym,q2d_sym});
standard_dynamics_func = sprintf('standard_dynamics_%s',opt.robotName);
% traj
time = 0:1:2;
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);
F_Simpack_list = feval(standard_dynamics_func, q_J',qd_J',qdd_J');
% time = 0:1:2;
% 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);
% F_Simpack_list = feval(standard_dynamics_func, q_J',qd_J',qdd_J');
% Use Body Twist cal linear vel, but can't cal the end frame vel
% [V2] = InverseDynamics_sym(thetalist, dthetalist, ddthetalist, ...