44 lines
1.7 KiB
Matlab
44 lines
1.7 KiB
Matlab
function robot = get_velocity(robot, opt)
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switch opt.KM_method
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case 'SDH'
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case 'MDH'
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switch opt.Vel_method
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case 'Direct'
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Z = [0,0,1]';
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w0 = zeros(3,1); dw0 = zeros(3,1);
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% dv0 = robot.gravity;
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v0 = zeros(3,1);dv0 = zeros(3,1);
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% w = zeros(3,number);
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% dw = zeros(3,number);
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% dv = zeros(3,number);
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theta = robot.theta;
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dtheta = robot.dtheta;
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ddtheta = robot.ddtheta;
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R = robot.R;
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P = robot.t;
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% 1-n外推公式
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%第一关节
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w(:,1) = R(:,:,1)' * w0 + dtheta(1) * Z;
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v(:,1) = R(:,:,1)' * v0 + cross(w0,P(:,1));
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dw(:,1) = R(:,:,1)' * dw0 + cross(R(:,:,1)' * w0, dtheta(1) * Z) + ddtheta(1) * Z;
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dv(:,1) = R(:,:,1)' * (cross(dw0,P(:,1)) + cross(w0,cross(w0, P(:,1))) + dv0);
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%后面n-1关节
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for i = 1:robot.ndof
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w(:,i+1) = R(:,:,i+1)' * w(:,i) + dtheta(i+1) * Z ;
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v(:,i+1) = R(:,:,i+1)' * v(:,i) + cross(w(:,i), P(:,i+1));
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dw(:,i+1) = R(:,:,i+1)' * dw(:,i) + cross(R(:,:,i+1)' * w(:,i), dtheta(i+1) * Z)+ ddtheta(i+1) * Z;
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dv(:,i+1) = R(:,:,i+1)' * (cross(dw(:,i), P(:,i+1)) + cross(w(:,i), cross(w(:,i), P(:,i+1))) + dv(:,i));
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end
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robot.vel.w = w;
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robot.vel.v = v;
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robot.vel.dw = dw;
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robot.vel.dv = dv;
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otherwise
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disp('Bad opt.Vel_method!')
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return;
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end
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otherwise
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disp('Bad opt.KM_method!')
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return;
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end
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