27 lines
853 B
Matlab
27 lines
853 B
Matlab
function GravityTorque = calculateGravityModel(thetaMea,permutationMatrix,pib_MLS)
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% Example:
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% thetalist = [0;0;0;0;0;pi/2;0;0;0];
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% calculateGravityModel([thetalist])
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% code start
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opt.robot_def = 'direct';
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opt.KM_method = 'SCREW';
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opt.Vel_method = 'Direct';
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opt.LD_method = 'Direct';
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opt.debug = true;
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opt.robotName = 'R1000_DVT';
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opt.reGenerate = false;
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opt.Isreal = true;
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get_robot_func = sprintf('get_robot_%s',opt.robotName);
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robot = feval(get_robot_func,thetaMea,zeros(size(thetaMea)),zeros(size(thetaMea)),opt);
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get_Kinematics_func = sprintf('get_Kinematics_%s',opt.robotName);
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robot = feval(get_Kinematics_func,robot,opt);
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% FIXME
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robot = get_velocity(robot, opt);
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robot = get_regressor(robot,opt);
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% get base params
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% hack numberOfBaseParameters =15
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Yb = robot.regressor.K*permutationMatrix(:,1:15);
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% get torque
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GravityTorque = Yb*pib_MLS; |