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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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5 changed files with 8 additions and 158 deletions
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72
Identification_main.asv
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@ -1,72 +0,0 @@
close all;clc;clear
file = [];
opt.robot_def = 'direct';
opt.KM_method = 'MDH';
opt.Vel_method = 'Direct';
opt.LD_method = 'Direct';
opt.debug = true;
opt.robotName = 'R1000';
opt.Isreal = true;
robot = get_robot_R1000(file,opt);
% robot.theta = [1,1,0];
%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;
% Get 3D coordinate of CO
co=[]
for i = 1:8
if i == 1
co(:,i) = com_pos_R1(:,i)-com_pos_R2(:,i);
elseif i<8
%From base to ISA Origin
co(:,i) = co(:,i-1)+com_pos_R1(:,i)-com_pos_R2(:,i);
else
%From base to ISA Origin
co(:,i) = co(:,i-1)-[0;0;0.05896];
end
end
co = [zeros(3,1),co];
% temp slist
robot.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]];
robot.slist(4:6,:) = co;
robot.Home = [0;0;-1];
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'];
robot = get_Kinematics(robot, opt);
% R1000_Dynamics_num;
% opt.Isreal = false;
% robot = get_velocity(robot, opt);
% robot = get_regressor(robot,opt);
% symbol matched
% verify_regressor
% robot = get_baseParams(robot, opt);

6
R1000_Dynamics_num.m
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@ -12,9 +12,9 @@ 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 = [q_J;zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_]';
dthetalist = [zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_]'; dthetalist = [qd_J;zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_]';
ddthetalist = [zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_]'; ddthetalist = [qdd_J;zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_]';
% Get general mass matrix % Get general mass matrix
Glist=[]; Glist=[];

2
get_robot_R1000.m
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@ -15,8 +15,6 @@ switch opt.robot_def
robot.link_type = ['R','R','R','R','R','R','R','R','P']; robot.link_type = ['R','R','R','R','R','R','R','R','P'];
case 'SCREW' case 'SCREW'
robot.theta = zeros(1,9); robot.theta = zeros(1,9);
robot.theta(5) = pi/3;
robot.theta(7) = pi/3;
otherwise otherwise
disp('Bad opt.KM_method!') disp('Bad opt.KM_method!')
return; return;

81
untitled2.asv
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@ -1,81 +0,0 @@
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; % don't use this
com_pos_R1(:,9)=[-9.6776846e-02 1.4179201e-01 -3.4242667e+01]'*10^-3;
% plot 3D: Get 3D coordinate of COM
ct=[];
for i = 1:9
if i == 1
ct(:,i) = com_pos_R1(:,i);
elseif i< 9
ct(:,i) = ct(:,i-1)-com_pos_R2(:,i-1)+com_pos_R1(:,i);
else
ct(:,i) = ct(:,i-1)-com_pos_R1(:,i-1)-[0;0;0.05896]+com_pos_R1(:,i);
end
end
plot3(ct(1,:),ct(2,:),ct(3,:),'o','Color','r')
axis equal
grid on
% plot 3D: Get 3D coordinate of CO
co=[];
for i = 1:8
if i == 1
co(:,i) = com_pos_R1(:,i)-com_pos_R2(:,i);
elseif i<8
%From base to ISA Origin
co(:,i) = co(:,i-1)+com_pos_R1(:,i)-com_pos_R2(:,i);
else
%From base to ISA Origin
co(:,i) = co(:,i-1)-[0;0;0.05896];
end
end
co = [zeros(3,1),co];
hold on
plot3(co(1,:),co(2,:),co(3,:),'o','Color','b')
axis equal
grid on
%%
for i = 1:9
co(:,i+1)-co(:,i);
end
%%
robot.

5
untitled2.m
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@ -81,6 +81,11 @@ end
for i = 1:9 for i = 1:9
tt(:,i)=robot.TW(1:3,1:3,i)*com_pos_R1(:,i); tt(:,i)=robot.TW(1:3,1:3,i)*com_pos_R1(:,i);
end end
kk=[];
for i = 1:9
kk(:,:,i)=TransInv(robot.TW(:,:,i))*Mlist_CG_Base(:,:,i);
end
%% %%
yy=eye(4,4); yy=eye(4,4);
for i =1:9 for i =1:9