90 lines
2.8 KiB
Matlab
90 lines
2.8 KiB
Matlab
%% R1000
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N=9;
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% Dynamics parameters
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link_mass = robot.m;
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com_pos = robot.com;
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% link_inertia = robot.I;
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link_inertia(:,:,1) = diag([1,1,1]);
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link_inertia(:,:,2) = diag([1,1,1]);
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link_inertia(:,:,3) = diag([1,1,1]);
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link_inertia(:,:,4) = diag([1,1,1]);
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link_inertia(:,:,5) = diag([1,1,1]);
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link_inertia(:,:,6) = diag([1,1,1]);
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link_inertia(:,:,7) = diag([1,1,1]);
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link_inertia(:,:,8) = diag([1,1,1]);
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link_inertia(:,:,9) = diag([1,1,1]);
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q_sym = sym('q%d',[N,1],'real');
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qd_sym = sym('qd%d',[N,1],'real');
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q2d_sym = sym('qdd%d',[N,1],'real');
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thetalist = qd_sym(1:N);
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dthetalist = qd_sym(1:N);
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ddthetalist = q2d_sym(1:N);
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% Get general mass matrix
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Glist=[];
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for i = 1:N
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Gb= [link_inertia(:,:,i),zeros(3,3);zeros(3,3),link_mass(i)*diag([1,1,1])];
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Glist = cat(3, Glist, Gb);
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end
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% Get the com pos transformation in each joint reference frame
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Mlist = [];
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for i = 1:N
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M = robot.T(:,:,i)+transl(com_pos(i));
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Mlist = cat(3, Mlist, M);
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end
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M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
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Mlist = cat(3, Mlist, M);
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%TODO: Get Slist form DH table method
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Slist=[[0;0;1;0;0;0],...
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[0;-1;0;cross(-[0;-1;0],[0.2;0;0])]...
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[0;-1;0;cross(-[0;-1;0],[0.2+0.5;0;0])]...
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[0;-1;0;cross(-[0;-1;0],[0.2+0.5+0.45;0;0])]...
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[0;0;1;cross(-[0;0;1],[0.2+0.5+0.45+0.12;0;0])]...
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[1;0;0;cross(-[1;0;0],[0.2+0.5+0.45+0.12+0.28;0;0])]...
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[0;0;-1;cross(-[0;0;-1],[0.2+0.5+0.45+0.12+0.28;0;-0.4])]...
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[0;-1;0;cross(-[0;-1;0],[0.2+0.5+0.45+0.12+0.28;0;-0.4])]...
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[0;0;0;cross(-[0;0;0],[0.2+0.5+0.45+0.12+0.28-0.3157;0;-0.4-0.126493])]];
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Vlinear=sym(zeros(3,3));
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J=sym(zeros(6,N));
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exf=[0;0;0;0;0;0];
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[V1,Vd1,Adgab_mat,Fmat,tau_mat] ...
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= InverseDynamics_sym(thetalist, dthetalist, ddthetalist, ...
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[0;0;-9.8], exf, Mlist, Glist, Slist);
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G = FKinSpaceExpand_Sym(Mlist, Slist, thetalist);
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% Get the end efforce transformation in each joint reference frame
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Mlist = [];
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for i = 1:N+1
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M = robot.T(:,:,i);
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Mlist = cat(3, Mlist, M);
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end
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M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
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Mlist = cat(3, Mlist, M);
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T=FKinSpaceExpand_Sym(Mlist, Slist, thetalist);
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F_Simpack = getSimpackF_Sym(G,T,Mlist,Fmat);
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%Gen Files
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matlabFunction(F_Simpack,'File',sprintf('autogen/standard_dynamics_%s',opt.robotName),...
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'Vars',{q_sym,qd_sym,q2d_sym});
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standard_dynamics_func = sprintf('standard_dynamics_%s',opt.robotName);
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% traj
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time = 0:1:2;
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f=1;
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q_J = sin(2*pi*f*time);
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qd_J = (2*pi*f)*cos(2*pi*f*time);
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qdd_J = -(2*pi*f)^2*sin(2*pi*f*time);
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F_Simpack_list = feval(standard_dynamics_func, q_J',qd_J',qdd_J');
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% Use Body Twist cal linear vel, but can't cal the end frame vel
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% [V2] = InverseDynamics_sym(thetalist, dthetalist, ddthetalist, ...
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% [0;0;0], exf, Mlist, Glist, Slist);
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% j=1;
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% Vlinear(:, j+1) = BodyVelToLinearVel(V2(:,j+1),G(:,:,j)*M12);
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% j=2;
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% Vlinear(:, j+1) = BodyVelToLinearVel(V2(:,j+1),G(:,:,j)*M23); |