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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 +5 -10
2 changed files with 5 additions and 10 deletions
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4
R1000_Dynamics_num.m
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@ -13,9 +13,9 @@ link_mass = robot.m;
com_pos = robot.com;
link_inertia = robot.I;
thetalist = [zero_;zero_;q_J;q_J;zero_;zero_;zero_;zero_;zero_]';
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_]';
ddthetalist = [q_J;q_J;q_J;q_J;q_J;q_J;q_J;q_J;q_J]';
% Get general mass matrix
Glist=[];

11
get_robot_R1000.m
View File

@ -119,12 +119,7 @@ switch opt.robot_def
if(opt.Isreal)
%FIXME: only consider the theta temply
robot.dtheta = zeros([ndof,1]);
robot.ddtheta = zeros([ndof,1]);
% robot.theta(end-1) = pi/4;
% robot.dtheta(end-2) = pi/4;
% robot.ddtheta(end-1) = 100*pi/4;
% robot.ddtheta(end-2) = 100*pi/4;
% robot.ddtheta(end-3) = 100*pi/4;
robot.ddtheta = pi/4*ones([ndof,1]);
robot.link_type = ['R','R','R','R','R','R','R','R','P'];
switch opt.KM_method
case 'SDH'
@ -158,8 +153,8 @@ switch opt.robot_def
[0;0;0;1;0;0]];
robot.theta = zeros([ndof,1]);
% robot.theta(end-1) = pi/4;
robot.theta(3) = pi/4;
robot.theta(4) = pi/4;
% robot.theta(3) = pi/4;
% robot.theta(4) = pi/4;
otherwise
disp('Bad opt.KM_method!')
return;