81 lines
2.6 KiB
Matlab
81 lines
2.6 KiB
Matlab
% function robot = verify_regressor(robot, opt)
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% verify: If full regressor dynamics is the same as basic dynamics
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ndof = robot.ndof;
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q_sym = sym('q%d',[ndof+1,1],'real');
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qd_sym = sym('qd%d',[ndof+1,1],'real');
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q2d_sym = sym('qdd%d',[ndof+1,1],'real');
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pi1=[1;1/2;0;0;1+1/4;0;0;1+1/4;0;1+1/4];
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pi2=[1;1/2;0;0;1+1/4;0;0;1+1/4;0;1+1/4];
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% pi2=zeros([10,1]);
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pi=[pi1;pi2];
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regressor = standard_regressor_Two_bar(q_sym,qd_sym,q2d_sym);
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tau=regressor*pi;
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%% Two-bar
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N=2;
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thetalist = q_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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Gb= [diag([1,1,1]),zeros(3,3);
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zeros(3,3),diag([1,1,1])];
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Glist = cat(3, Gb, Gb);
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% Glist = cat(3, Gb, zeros([6,6]));
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M01 = [[1, 0, 0, 1/2]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
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M12 = [[1, 0, 0, 1]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
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M23 = [[1, 0, 0, 1/2]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
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Mlist = cat(3, M01, M12, M23);
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Slist=[[0;0;1;0;0;0],...
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[0;0;1;0;-1;0]];
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Adgab_mat = sym(zeros(6,6,N+1));
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Fmat=sym(zeros(N,6));
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F1=sym(zeros(N,6));
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V1=sym(zeros(6,N+1));
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G=sym(zeros(4,4,N));
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T=sym(zeros(4,4,N));
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Vlinear=sym(zeros(3,3));
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Vd1=sym(zeros(6,N+1));
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Gb= [diag([1,1,1]),zeros(3,3);
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zeros(3,3),diag([1,1,1])];
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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;0], exf, Mlist, Glist, Slist);
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G = FKinSpaceExpand_Sym(Mlist, Slist, thetalist);
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M01 = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
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M12 = [[1, 0, 0, 1]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
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M23 = [[1, 0, 0, 1]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
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Mlist = cat(3, M01, M12, M23);
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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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% 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);
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%% Check if screw method is equal to regressor
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isequal(simplify(tau),simplify(tau_mat))
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%% Numerical
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clear pi;
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ndof = robot.ndof;
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time = 0:0.01:2;
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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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q=[q_J;-q_J];
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qd=[qd_J; -qd_J];
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qdd=[qdd_J; -qdd_J];
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g = [0; 0; -9.8];
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robot_pi1=[1;1/2;0;0;1+1/4;0;0;1+1/4;0;1+1/4];
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robot_pi2=[1;1/2;0;0;1+1/4;0;0;1+1/4;0;1+1/4];
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% pi2=zeros([10,1]);
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robot_pi=[robot_pi1;robot_pi2];
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tau = zeros([2,100]);
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for i = 1:length(q_J)
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regressor = standard_regressor_Two_bar(q(:,i),qd(:,i),qdd(:,i));
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tau(:,i)=regressor*robot_pi;
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end |