174 lines
5.3 KiB
Matlab
174 lines
5.3 KiB
Matlab
%% R1000
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N=9;
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% traj
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time = 0:0.01:1;
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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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zero_ = zeros(1,length(q_J));
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% Dynamics parameters
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link_mass = robot.m;
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com_pos = robot.com;
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link_inertia = robot.I;
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thetalist = [q_J;zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_]';
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dthetalist = [qd_J;zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_]';
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ddthetalist = [qdd_J;zero_;zero_;zero_;zero_;zero_;zero_;zero_;zero_]';
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% Get general mass matrix
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Glist=[];
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for i = 1:N
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Gb= [link_inertia(:,:,i),zeros(3,3);zeros(3,3),link_mass(i)*diag([1,1,1])];
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Glist = cat(3, Glist, Gb);
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end
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% Get the com pos transformation in each joint reference frame
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% Mlist_CG = [];
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% for i = 0:N-1
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% if i == 0
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% M = robot.T(:,:,i+1)*transl(com_pos(:,i+1));
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% else
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% M = TransInv(transl(com_pos(:,i)))*robot.T(:,:,i+1)*transl(com_pos(:,i+1));
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% end
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% Mlist_CG = cat(3, Mlist_CG, M);
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% end
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% M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
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% Mlist_CG = cat(3, Mlist_CG, M);
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% Get the com pos transformation in each joint reference frame
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% FIXME: BUG here
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% Mlist_CG=[];
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% for i = 0:N-1
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% if i == 0
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% M=robot.T(:,:,i+1)*transl(com_pos(:,i+1));
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% else
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% rotation_i = diag([1,1,1]);
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% for j = 1:i
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% rotation_i = rotation_i*TransToRp(robot.T(:,:,i));
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% rotation_j = rotation_i*TransToRp(robot.T(:,:,i+1));
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% end
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% M = TransInv(RpToTrans(rotation_i,rotation_i*com_pos(:,i)))*robot.T(:,:,i+1)*RpToTrans(rotation_j,rotation_j*com_pos(:,i+1));
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% end
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% Mlist_CG = cat(3, Mlist_CG, M);
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% end
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% M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
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% Mlist_CG = cat(3, Mlist_CG, M);
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% ct=[];
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% Mlist_CG=[];
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% for i = 1:N
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% if i == 1
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% ct(:,i) = com_pos_R1(:,i);
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% elseif i< 9
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% ct(:,i) = -com_pos_R2(:,i-1)+com_pos_R1(:,i);
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% else
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% ct(:,i) = -com_pos_R1(:,i-1)-[0;0;0.05896]+com_pos_R1(:,i);
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% end
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% robot.Home.com(:,i) = ct(:,i);
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% M = RpToTrans(robot.T(1:3,1:3,i),robot.Home.R(:,:,i)*robot.Home.com(:,i));
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% Mlist_CG = cat(3, Mlist_CG, M);
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% end
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% M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
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% Mlist_CG = cat(3, Mlist_CG, M);
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% Mlist_CG=[];
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% for i = 1:N
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% if i == 1
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% M = [diag([1,1,1]),com_pos_R1(:,i);zeros(1,3),1];
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% elseif i<=8
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% M = RpToTrans(TransToRp(robot.T(:,:,i)),robot.Home.R(:,:,i)*(-com_pos_R2(:,i-1)+com_pos_R1(:,i)));
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% elseif i==9
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% M = RpToTrans(TransToRp(robot.T(:,:,i)),robot.Home.R(:,:,i)*(-[0;0;0.05896]+com_pos_R1(:,i-1)+com_pos_R1(:,i)));
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% end
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% Mlist_CG = cat(3, Mlist_CG, M);
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% end
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% M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
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% Mlist_CG = cat(3, Mlist_CG, M);
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ct=[];
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Mlist_CG_Base=[];
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for i = 1:N
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if i == 1
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ct(:,i) = com_pos_R1(:,i);
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elseif i< 9
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ct(:,i) = ct(:,i-1)-com_pos_R2(:,i-1)+com_pos_R1(:,i);
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else
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ct(:,i) = ct(:,i-1)-com_pos_R1(:,i-1)-[0;0;0.05896]+com_pos_R1(:,i);
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end
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robot.Home.com(:,i) = ct(:,i);
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M_CG_Base = RpToTrans(robot.Home.R(:,:,i),robot.Home.com(:,i));
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Mlist_CG_Base = cat(3, Mlist_CG_Base, M_CG_Base);
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end
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Mlist_CG=[];
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for i = 1:N
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if i == 1
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Mlist_CG(:,:,i) = Mlist_CG_Base(:,:,i);
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else
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Mlist_CG(:,:,i) = TransInv(Mlist_CG_Base(:,:,i-1))*Mlist_CG_Base(:,:,i);
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end
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end
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M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
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Mlist_CG = cat(3, Mlist_CG, M);
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% Get the end efforce transformation in each joint reference frame
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Mlist_ED = [];
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for i = 1:N
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M = robot.T(:,:,i);
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Mlist_ED = cat(3, Mlist_ED, M);
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end
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M = [[1, 0, 0, 0]; [0, 1, 0, 0]; [0, 0, 1, 0]; [0, 0, 0, 1]];
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Mlist_ED = cat(3, Mlist_ED, M);
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%TODO: Get Slist form DH table method
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% RRRRRRRRP
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Slist=robot.slist;
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Vlinear=sym(zeros(3,3));
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J=sym(zeros(6,N));
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exf=[0;0;0;0;0;0];
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for i = 1:length(q_J)
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[V1(:,:, i),Vd1(:,:, i),Adgab_mat(:,:,:,i),Fmat(:,:,i),taumat(:,i)] ...
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= InverseDynamics_debug(thetalist(i,:)', dthetalist(i,:)', ddthetalist(i,:)', ...
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[0;0;-9.806], exf, Mlist_CG, Glist, Slist);
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G(:,:,:,i) = FKinSpaceExpand(Mlist_CG, Slist, thetalist(i,:)');
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T(:,:,:,i)=FKinSpaceExpand(Mlist_ED, Slist, thetalist(i,:)');
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%Want to get the result from TC_delta, which means F at CG represent under frame at the last origin
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%why we need Mlist_ED
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%please explain this more
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F_Simpack(:,:,i) = getSimpackF(G(:,:,:,i),T(:,:,:,i),Mlist_ED,Fmat(:,:,i));
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end
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% plot Torque
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% above 2020b
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% F_Simpack = pagetranspose(F_Simpack);
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% below 2020b
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for i = 1:3
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subplot(3,1,i);
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hold on;
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%added minus, so should be the same as simpack
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plot(time,taumat(i+6,:))
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xlabel('time(s)')
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ylabel('Torque(Nm)')
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% plot(SPCK_Result.Crv(i+4).x,SPCK_Result.Crv(i+4).y)
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end
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F_Simpack = permute(F_Simpack,[2 1 3]);
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figure(2)
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for i = 1:3
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subplot(3,1,i);
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hold on;
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%added minus, so should be the same as simpack
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plot(time,-reshape(F_Simpack(8,i,:),[1,length(F_Simpack)]))
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% plot(SPCK_Result.Crv(i+4).x,SPCK_Result.Crv(i+4).y)
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end
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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); |