78 lines
2.7 KiB
Matlab
78 lines
2.7 KiB
Matlab
Mlist_CG=[]
|
|
for i = 0:N-1
|
|
if i == 0
|
|
M=robot.T(:,:,i+1)*transl(com_pos(:,i+1));
|
|
else
|
|
% rotation_i = TransToRp(robot.T(:,:,i+1))
|
|
M = TransInv(transl(com_pos(:,i)))*robot.T(:,:,i+1)*transl(com_pos(:,i+1));
|
|
end
|
|
Mlist_CG = cat(3, Mlist_CG, M);
|
|
end
|
|
%%
|
|
Mlist_CG=[]
|
|
for i = 0:N-1
|
|
if i == 0
|
|
M=robot.T(:,:,i+1)*transl(com_pos(:,i+1));
|
|
else
|
|
rotation_i = diag([1,1,1]);
|
|
for j = 1:i
|
|
rotation_i = rotation_i*TransToRp(robot.T(:,:,i));
|
|
rotation_j = rotation_i*TransToRp(robot.T(:,:,i+1));
|
|
end
|
|
M = TransInv(RpToTrans(rotation_i,com_pos(:,i)))*robot.T(:,:,i+1)*RpToTrans(rotation_j,com_pos(:,i+1));
|
|
end
|
|
Mlist_CG = cat(3, Mlist_CG, M);
|
|
end
|
|
%%
|
|
com_pos_R1(:,1)=[9.7435250e+01 8.3517655e-01 1.2246547e+02]'*10^-3;
|
|
com_pos_R2(:,1)=[-1.0040117e+02 -9.4164823e+01 -3.4522260e+01]'*10^-3;
|
|
com_pos_R1(:,2)=[3.7345395e+02 -5.5328829e+01 -4.4313141e-02]'*10^-3;
|
|
com_pos_R2(:,2)=[ -1.2654643e+02 9.6371171e+01 -4.4094190e-02]'*10^-3;
|
|
com_pos_R1(:,3)=[1.8811711e+02 -7.9651429e+00 -4.9225523e-04 ]'*10^-3;
|
|
com_pos_R2(:,3)=[-2.6188289e+02 2.8348571e+00 -4.9225523e-04 ]'*10^-3;
|
|
com_pos_R1(:,4)=[ 5.4048685e+01 5.8463901e+01 -5.0915631e+00 ]'*10^-3;
|
|
com_pos_R2(:,4)=[ -6.5951315e+01 -9.0360991e+00 5.2908437e+01]'*10^-3;
|
|
com_pos_R1(:,5)=[1.3028528e+02 4.8953539e-02 4.6198421e+01]'*10^-3;
|
|
com_pos_R2(:,5)=[-9.5814715e+01 4.8953539e-02 -1.2301579e+01 ]'*10^-3;
|
|
com_pos_R1(:,6)=[4.9059639e+01 5.9928547e-02 -2.8858572e+01]'*10^-3;
|
|
com_pos_R2(:,6)=[-4.7403608e+00 5.9928547e-02 6.2741428e+01]'*10^-3;
|
|
com_pos_R1(:,7)=[2.3210318e-02 -9.5031144e+00 -1.0242124e+02]'*10^-3;
|
|
com_pos_R2(:,7)=[2.3210318e-02 -9.5031144e+00 2.0257876e+02 ]'*10^-3;
|
|
com_pos_R1(:,8)=[-3.6571935e+01 -3.6282658e-01 -4.7124267e+01]'*10^-3;
|
|
com_pos_R2(:,8)=[2.2355855e+02 -3.6281380e-01 1.4875409e+01]'*10^-3; % don't use this
|
|
com_pos_R1(:,9)=[-9.6776846e-02 1.4179201e-01 -3.4242667e+01]'*10^-3;
|
|
% plot 3D: Get 3D coordinate of COM
|
|
ct=[]
|
|
for i = 1:9
|
|
if i == 1
|
|
ct(:,i) = com_pos_R1(:,i);
|
|
elseif i< 9
|
|
ct(:,i) = ct(:,i-1)-com_pos_R2(:,i-1)+com_pos_R1(:,i);
|
|
else
|
|
ct(:,i) = ct(:,i-1)-com_pos_R1(:,i-1)-[0;0;0.05896]+com_pos_R1(:,i);
|
|
end
|
|
end
|
|
plot3(ct(1,:),ct(2,:),ct(3,:),'o','Color','r')
|
|
axis equal
|
|
grid on
|
|
% plot 3D: Get 3D coordinate of CO
|
|
co=[]
|
|
for i = 1:8
|
|
if i == 1
|
|
co(:,i) = com_pos_R1(:,i)-com_pos_R2(:,i);
|
|
elseif i<8
|
|
%From base to ISA Origin
|
|
co(:,i) = co(:,i-1)+com_pos_R1(:,i)-com_pos_R2(:,i);
|
|
else
|
|
%From base to ISA Origin
|
|
co(:,i) = co(:,i-1)-[0;0;0.05896];
|
|
end
|
|
end
|
|
co = [zeros(3,1),co];
|
|
hold on
|
|
plot3(co(1,:),co(2,:),co(3,:),'o','Color','b')
|
|
axis equal
|
|
grid on
|
|
for i = 1:9
|
|
co(:,i+1)-co(:,i)
|
|
end |