189 lines
6.7 KiB
Matlab
189 lines
6.7 KiB
Matlab
%% 外力投影
|
|
close all;clc;clear
|
|
file = [];
|
|
opt.robot_def = 'direct';
|
|
opt.KM_method = 'SCREW';
|
|
opt.Vel_method = 'Direct';
|
|
opt.LD_method = 'Direct';
|
|
opt.debug = false;
|
|
opt.robotName = 'R1000_DVT';
|
|
opt.reGenerate = false;
|
|
opt.Isreal = true;
|
|
opt.isJointTorqueSensor = true;
|
|
opt.isSixAxisFTSensor = false;
|
|
theta = zeros(9,1);
|
|
dtheta = zeros(9,1);
|
|
ddtheta = zeros(9,1);
|
|
get_robot_func = sprintf('get_robot_%s',opt.robotName);
|
|
robot = feval(get_robot_func,theta,dtheta,ddtheta,file,opt);
|
|
get_Kinematics_func = sprintf('get_Kinematics_%s',opt.robotName);
|
|
robot = feval(get_Kinematics_func,robot,opt);
|
|
|
|
theta_stow = deg2rad([0;113;-160;47;80;90;90;0]);
|
|
% theta_stow = [pi/3;1.1;-2.1;0.345;0;3.14;0;0.262];
|
|
theta_init = deg2rad([0;0;-160;47;80;90;90;0]);
|
|
theta_init = deg2rad([0;0;100;30;80;80;90;0]);
|
|
% theta_init = deg2rad([0;110;-160;47;80;90;90;0]);
|
|
% theta_stow = [0;1.2;-2.2;0.345;0;3.14;0;0.262];
|
|
% theta_init = [0;1.1;-2.1;0.345;0;3.14;0;0.262];
|
|
%
|
|
% theta_stow = [1;0;0;0;0;0;0;0];
|
|
% theta_init = [0;0;0;0;0;0;0;0];
|
|
theta_delta = theta_stow - theta_init;
|
|
traj_space = [];
|
|
|
|
dq_max=zeros(1,1);ddq_max=zeros(1,1);dt=1/2000;
|
|
dq=zeros(8,1);
|
|
% Mphi = diag(5*ones(1,1));
|
|
M = diag(5*ones(1,1));
|
|
% Kphi = diag(40*ones(1,1));
|
|
K = diag(1*ones(1,1));
|
|
C = diag(0*ones(1,1));
|
|
phi_log =[];dq_log =[];ddq_log =[];
|
|
|
|
Ft(1) = 0;
|
|
|
|
for i = 1:1000
|
|
ddq_max = inv(M)*(Ft(i)-K*dq_max-C.*dq_max.^2);
|
|
% ddq_max = min(1, max(-1, ddq_max)); % dq_lim
|
|
dq_max = dq_max + ddq_max*dt;
|
|
dq_max = min(1, max(-1, dq_max)); % dq_lim
|
|
dq = (theta_delta)/(max(abs(theta_delta)))*dq_max; %joint space vel
|
|
dq_log = [dq_log,dq];
|
|
if i == 1
|
|
theta_J1J8(:,i) = theta_init;
|
|
else
|
|
theta_J1J8(:,i) = theta_J1J8(:,i-1)+dq*dt;
|
|
end
|
|
%saturation
|
|
for j = 1:length(theta_init)
|
|
if theta_stow(j) > theta_init(j)
|
|
if theta_J1J8(j,i) > theta_stow(j)
|
|
theta_J1J8(j,i) = theta_stow(j);
|
|
elseif theta_J1J8(j,i) < theta_init(j)
|
|
theta_J1J8(j,i) = theta_init(j);
|
|
end
|
|
else
|
|
if theta_J1J8(j,i) > theta_init(j)
|
|
theta_J1J8(j,i) = theta_init(j);
|
|
elseif theta_J1J8(j,i) < theta_stow(j)
|
|
theta_J1J8(j,i) = theta_stow(j);
|
|
end
|
|
end
|
|
end
|
|
|
|
%hack theta
|
|
theta_J1ISA= zeros(9,1);
|
|
theta_J1ISA(1:8) = theta_J1J8(:,i);
|
|
%get robot
|
|
robot = feval(get_robot_func,theta_J1ISA,dtheta,ddtheta,file,opt);
|
|
get_Kinematics_func = sprintf('get_Kinematics_%s',opt.robotName);
|
|
robot = feval(get_Kinematics_func,robot,opt);
|
|
%FK
|
|
traj_space(:,:,i) = robot.kine.TW(:,:,7);
|
|
Jaco = JacobianSpace(robot.slist(:,1:7),theta_J1ISA(1:7));
|
|
dq_tangent = theta_delta;
|
|
dtraj_space(:,i) =Jaco*dq_tangent(1:7); %fix
|
|
dx_ = VecTose3(dtraj_space(:,i))*[traj_space(1:3,4,i);1];
|
|
dx(:,i) = dx_(1:3);
|
|
% mehod 1: only use linear force
|
|
Fext_sensor = [0;0;0;30;-40;0];
|
|
permutationMatrix = diag([-1,-1,1,1]);
|
|
Fext_base = Adjoint(permutationMatrix*inv(traj_space(:,:,i)))'*Fext_sensor;
|
|
Ft(i+1) = Fext_base(4:6)' * dx(:,i)/norm(dx(:,i));
|
|
% Ft(i+1) = Fext(4:6)' * dx(:,i)/(dx(:,i)'*dx(:,i))*dx(:,i);
|
|
% Fext_base = [0;0;0;20;20;20];
|
|
end
|
|
%%
|
|
% 预先创建箭头对象（初始位置和方向可以随意设置，后续会更新）
|
|
x_axis = quiver3(0, 0, 0, 0, 0, 0, 'r');
|
|
x_axis.LineWidth = 3;
|
|
x_axis.AutoScaleFactor = 0.5;
|
|
hold on;
|
|
test = traj_space(1:3,4,:);
|
|
reshape(test,[3,size(test,3)]);
|
|
for i = 1:100
|
|
% 绘制机械臂
|
|
% DVT.plot([theta_phi(:,i);0]')
|
|
% T_L8 = DVT_L8.fkine(theta_phi(:,i));
|
|
|
|
% 设置坐标轴范围
|
|
axis([-1 2.0 -1 1 -2 1.6]);
|
|
plot3(test(1,i), test(2,i), test(3,i), 'bo', 'MarkerSize', 5, 'MarkerFaceColor', 'b');
|
|
% 更新箭头的位置和方向（而不是重新创建）
|
|
set(x_axis, 'XData', test(1,i), 'YData', test(2,i), 'ZData', test(3,i), ...
|
|
'UData', dx(1,i)/norm(dx(:,i)), 'VData', dx(2,i)/norm(dx(:,i)), 'WData', dx(3,i)/norm(dx(:,i)));
|
|
% 设置视角
|
|
% view([view_angle1 view_angle2]);
|
|
% 刷新图形
|
|
drawnow;
|
|
end
|
|
%%
|
|
L1=Link('revolute', 'd', 0, 'a', 0, 'alpha', 0, 'offset',0,'qlim',deg2rad([-110,110]),'modified');
|
|
L2=Link('revolute', 'd', 0, 'a', 0.2, 'alpha', pi/2, 'offset',0,'qlim',deg2rad([-120,120]),'modified');
|
|
L3=Link('revolute', 'd', 0, 'a', 0.5, 'alpha', 0, 'offset',0,'qlim',deg2rad([-160,160]),'modified');
|
|
L4=Link('revolute', 'd', 0, 'a', 0.45, 'alpha', 0, 'offset',0,'qlim',deg2rad([-160,160]),'modified');
|
|
L5=Link('revolute', 'd', 0, 'a', 0.12, 'alpha', -pi/2, 'offset',-pi/2,'qlim',deg2rad([-90,90]),'modified');
|
|
L6=Link('revolute', 'd', 0.28, 'a', 0, 'alpha', -pi/2, 'offset',0,'qlim',deg2rad([-270,270]),'modified');
|
|
L7=Link('revolute', 'd', 0.40, 'a', 0, 'alpha', -pi/2, 'offset',-pi/2,'qlim',deg2rad([-270,270]),'modified');
|
|
L8=Link('revolute', 'd', 0, 'a', 0, 'alpha', -pi/2, 'offset',-pi/2,'qlim',deg2rad([-71,79]),'modified');
|
|
L9=Link('prismatic', 'a', 0.126493, 'alpha', -pi/2, 'theta',0,'offset',-(0.59295-0.2772),'qlim',[0,0.342],'modified');
|
|
DVT=SerialLink([L1 L2 L3 L4 L5 L6 L7 L8 L9],'name','DVT'); %连接连杆
|
|
% 创建仅包含前8个连杆的子机器人
|
|
links_before_L9 = DVT.links(1:8); % 提取L1-L8
|
|
DVT_L8 = SerialLink(links_before_L9, 'name', 'DVT_up_to_L8');
|
|
% DVT.plot([0 0 0 0 0 0 0 0 0])%机械臂图
|
|
% 预先计算所有轨迹点
|
|
traj_points = zeros(3, 100); % 假设总共有100个点
|
|
for i = 1:100
|
|
T_L8 = DVT_L8.fkine(theta_J1J8(:,i));
|
|
traj_points(:,i) = T_L8.t; % 存储所有轨迹点
|
|
end
|
|
|
|
% 图形初始化
|
|
figure;
|
|
axis([-1 2.0 -1 2 -2 1.6]);
|
|
view_angle1 = -156;view_angle2=46;
|
|
view([view_angle1 view_angle2]);
|
|
isVideoRecordEnable = 1;
|
|
hold on;
|
|
grid on;
|
|
|
|
% 一次性绘制全部轨迹点
|
|
plot3(traj_points(1,:), traj_points(2,:), traj_points(3,:),...
|
|
'b-o', 'MarkerSize', 4, 'MarkerFaceColor', 'b', 'LineWidth', 1.5);
|
|
|
|
% 初始化箭头
|
|
x_axis = quiver3(0,0,0,0,0,0, 'r');
|
|
x_axis.LineWidth = 3;
|
|
x_axis.AutoScaleFactor = 0.5;
|
|
|
|
% 视频录制设置
|
|
if isVideoRecordEnable
|
|
myVideo = VideoWriter('DVT1_sim', 'MPEG-4');
|
|
myVideo.FrameRate = 30;
|
|
open(myVideo);
|
|
end
|
|
% 主循环（只更新机械臂和箭头）
|
|
for i = 1:100
|
|
% 绘制机械臂（保留轨迹不擦除）
|
|
DVT.plot([theta_J1J8(:,i);0]');
|
|
|
|
% 更新箭头
|
|
set(x_axis, 'XData',traj_points(1,i), 'YData',traj_points(2,i), 'ZData',traj_points(3,i),...
|
|
'UData',dx(1,i)/norm(dx(:,i)), 'VData',dx(2,i)/norm(dx(:,i)), 'WData',dx(3,i)/norm(dx(:,i)));
|
|
% view([view_angle1 view_angle2]);
|
|
% 录制视频
|
|
if isVideoRecordEnable
|
|
frame = getframe(gcf);
|
|
writeVideo(myVideo, frame);
|
|
end
|
|
|
|
drawnow limitrate; % 更高效的刷新方式
|
|
end
|
|
|
|
% 确保关闭视频文件
|
|
if isVideoRecordEnable
|
|
close(myVideo);
|
|
disp('视频录制完成');
|
|
end |