19 lines
564 B
Plaintext
19 lines
564 B
Plaintext
R = robot.kine.R;
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P = robot.kine.t;
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F1 = Adjoint(RpToTrans(RotX(pi/4),[1;2;3]))*robot.regressor.A(:,:,end)*robot.pi(:,end)
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F2 = robot.regressor.A(:,:,end-1)*robot.pi(:,end-1)+F1
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FF1 = Adjoint(TransInv(RpToTrans(RotX(pi/4),[1;2;3])))'*F_Simpack(end,:,1)'
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FF2 = F_Simpack(end-1,:,1)'+FF1
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%%
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F1 = robot.regressor.A(:,:,end)*robot.pi(:,end);
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F3 = robot.regressor.A(:,:,end-2)*robot.pi(:,end-2);
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%%
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F_Simpack(end,:,1)
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F_Simpack(end-2,:,1)
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%%
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robot_pi_vecoter = reshape(robot.pi,[90,1]);
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F = robot.regressor.U*robot_pi_vecoter;
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FF = reshape(F,[6,9])
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%%
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F_Simpack(:,:,1) |