63 lines
2.6 KiB
Matlab
63 lines
2.6 KiB
Matlab
function taulist = ComputedTorque(thetalist, dthetalist, eint, g, ...
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Mlist, Glist, Slist, thetalistd, ...
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dthetalistd, ddthetalistd, Kp, Ki, Kd)
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% *** CHAPTER 11: ROBOT CONTROL ***
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% Takes thetalist: n-vector of joint variables,
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% dthetalist: n-vector of joint rates,
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% eint: n-vector of the time-integral of joint errors,
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% g: Gravity vector g,
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% Mlist: List of link frames {i} relative to {i-1} at the home
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% position,
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% Glist: Spatial inertia matrices Gi of the links,
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% Slist: Screw axes Si of the joints in a space frame, in the format
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% of a matrix with the screw axes as the columns,
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% thetalistd: n-vector of reference joint variables,
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% dthetalistd: n-vector of reference joint velocities,
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% ddthetalistd: n-vector of reference joint accelerations,
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% Kp: The feedback proportional gain (identical for each joint),
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% Ki: The feedback integral gain (identical for each joint),
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% Kd: The feedback derivative gain (identical for each joint).
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% Returns taulist: The vector of joint forces/torques computed by the
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% feedback linearizing controller at the current instant.
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% Example Input:
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%
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% clc; clear;
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% thetalist = [0.1; 0.1; 0.1];
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% dthetalist = [0.1; 0.2; 0.3];
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% eint = [0.2; 0.2; 0.2];
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% g = [0; 0; -9.8];
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% M01 = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0.089159]; [0, 0, 0, 1]];
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% M12 = [[0, 0, 1, 0.28]; [0, 1, 0, 0.13585]; [-1, 0 ,0, 0]; [0, 0, 0, 1]];
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% M23 = [[1, 0, 0, 0]; [0, 1, 0, -0.1197]; [0, 0, 1, 0.395]; [0, 0, 0, 1]];
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% M34 = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0.14225]; [0, 0, 0, 1]];
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% G1 = diag([0.010267, 0.010267, 0.00666, 3.7, 3.7, 3.7]);
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% G2 = diag([0.22689, 0.22689, 0.0151074, 8.393, 8.393, 8.393]);
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% G3 = diag([0.0494433, 0.0494433, 0.004095, 2.275, 2.275, 2.275]);
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% Glist = cat(3, G1, G2, G3);
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% Mlist = cat(3, M01, M12, M23, M34);
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% Slist = [[1; 0; 1; 0; 1; 0], ...
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% [0; 1; 0; -0.089; 0; 0], ...
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% [0; 1; 0; -0.089; 0; 0.425]];
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% thetalistd = [1; 1; 1];
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% dthetalistd = [2; 1.2; 2];
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% ddthetalistd = [0.1; 0.1; 0.1];
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% Kp = 1.3;
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% Ki = 1.2;
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% Kd = 1.1;
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% taulist ...
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% = ComputedTorque(thetalist, dthetalist, eint, g, Mlist, Glist, Slist, ...
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% thetalistd, dthetalistd, ddthetalistd, Kp, Ki, Kd)
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%
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% Output:
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% taulist =
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% 133.0053
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% -29.9422
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% -3.0328
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e = thetalistd - thetalist;
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taulist ...
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= MassMatrix(thetalist, Mlist, Glist, Slist) ...
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* (Kp * e + Ki * (eint + e) + Kd * (dthetalistd - dthetalist)) ...
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+ InverseDynamics(thetalist, dthetalist, ddthetalistd, g, ...
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zeros(6, 1), Mlist, Glist, Slist);
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end |