You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
143 lines
4.4 KiB
143 lines
4.4 KiB
%CODEGENERATOR.GENFDYN Generate code for forward dynamics
|
|
%
|
|
% Iqdd = cGen.genfdyn() is a symbolic vector (1xN) of joint inertial
|
|
% reaction forces/torques.
|
|
%
|
|
% Notes::
|
|
% - Side effects of execution depends on the cGen flags:
|
|
% - saveresult: the symbolic expressions are saved to
|
|
% disk in the directory specified by cGen.sympath
|
|
% - genmfun: ready to use m-functions are generated and
|
|
% provided via a subclass of SerialLink stored in cGen.robjpath
|
|
% - genslblock: a Simulink block is generated and stored in a
|
|
% robot specific block library cGen.slib in the directory
|
|
% cGen.basepath
|
|
%
|
|
% Author::
|
|
% Joern Malzahn
|
|
% 2012 RST, Technische Universitaet Dortmund, Germany.
|
|
% http://www.rst.e-technik.tu-dortmund.de
|
|
%
|
|
% See also CodeGenerator.CodeGenerator, CodeGenerator.geninertia, CodeGenerator.genfkine.
|
|
|
|
% Copyright (C) 2012-2013, by Joern Malzahn
|
|
%
|
|
% This file is part of The Robotics Toolbox for Matlab (RTB).
|
|
%
|
|
% RTB is free software: you can redistribute it and/or modify
|
|
% it under the terms of the GNU Lesser General Public License as published by
|
|
% the Free Software Foundation, either version 3 of the License, or
|
|
% (at your option) any later version.
|
|
%
|
|
% RTB is distributed in the hope that it will be useful,
|
|
% but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
% GNU Lesser General Public License for more details.
|
|
%
|
|
% You should have received a copy of the GNU Leser General Public License
|
|
% along with RTB. If not, see <http://www.gnu.org/licenses/>.
|
|
%
|
|
% http://www.petercorke.com
|
|
%
|
|
% The code generation module emerged during the work on a project funded by
|
|
% the German Research Foundation (DFG, BE1569/7-1). The authors gratefully
|
|
% acknowledge the financial support.
|
|
|
|
function [Iqdd] = genfdyn(CGen)
|
|
[q,qd] = CGen.rob.gencoords;
|
|
tau = CGen.rob.genforces;
|
|
nJoints = CGen.rob.n;
|
|
|
|
CGen.logmsg([datestr(now),'\tLoading required symbolic expressions\n']);
|
|
|
|
%% Inertia matrix
|
|
CGen.logmsg([datestr(now),'\tLoading inertia matrix row by row']);
|
|
|
|
I = sym(zeros(nJoints));
|
|
for kJoints = 1:nJoints
|
|
CGen.logmsg(' %s ',num2str(kJoints));
|
|
symname = ['inertia_row_',num2str(kJoints)];
|
|
fname = fullfile(CGen.sympath,[symname,'.mat']);
|
|
|
|
if ~exist(fname,'file')
|
|
CGen.logmsg(['\n',datestr(now),'\t Symbolics not found, generating...\n']);
|
|
CGen.geninertia;
|
|
end
|
|
tmpstruct = load(fname);
|
|
I(kJoints,:)=tmpstruct.(symname);
|
|
|
|
end
|
|
CGen.logmsg('\t%s\n',' done!');
|
|
|
|
%% Matrix of centrifugal and Coriolis forces/torques matrix
|
|
CGen.logmsg([datestr(now),'\t\tCoriolis matrix by row']);
|
|
|
|
C = sym(zeros(nJoints));
|
|
for kJoints = 1:nJoints
|
|
CGen.logmsg(' %s ',num2str(kJoints));
|
|
symname = ['coriolis_row_',num2str(kJoints)];
|
|
fname = fullfile(CGen.sympath,[symname,'.mat']);
|
|
|
|
if ~exist(fname,'file')
|
|
CGen.logmsg(['\n',datestr(now),'\t Symbolics not found, generating...\n']);
|
|
CGen.gencoriolis;
|
|
end
|
|
tmpstruct = load(fname);
|
|
C(kJoints,:)=tmpstruct.(symname);
|
|
|
|
end
|
|
CGen.logmsg('\t%s\n',' done!');
|
|
|
|
%% Vector of gravitational load
|
|
CGen.logmsg([datestr(now),'\t\tvector of gravitational forces/torques']);
|
|
symname = 'gravload';
|
|
fname = fullfile(CGen.sympath,[symname,'.mat']);
|
|
|
|
if ~exist(fname,'file')
|
|
CGen.logmsg(['\n',datestr(now),'\t Symbolics not found, generating...\n']);
|
|
CGen.gengravload;
|
|
end
|
|
tmpstruct = load(fname);
|
|
G = tmpstruct.(symname);
|
|
|
|
CGen.logmsg('\t%s\n',' done!');
|
|
|
|
%% Joint friction
|
|
CGen.logmsg([datestr(now),'\t\tjoint friction vector']);
|
|
symname = 'friction';
|
|
fname = fullfile(CGen.sympath,[symname,'.mat']);
|
|
|
|
if ~exist(fname,'file')
|
|
CGen.logmsg(['\n',datestr(now),'\t Symbolics not found, generating...\n']);
|
|
CGen.genfriction;
|
|
end
|
|
tmpstruct = load(fname);
|
|
F = tmpstruct.(symname);
|
|
|
|
CGen.logmsg('\t%s\n',' done!');
|
|
|
|
% Full inverse dynamics
|
|
CGen.logmsg([datestr(now),'\tGenerating symbolic inertial reaction forces/torques expression\n']);
|
|
Iqdd = tau.'-C*qd.' -G.' +F.';
|
|
Iqdd = Iqdd.';
|
|
|
|
%% Save symbolic expressions
|
|
if CGen.saveresult
|
|
CGen.logmsg([datestr(now),'\tSaving symbolic inertial reaction forces/torques expression']);
|
|
|
|
CGen.savesym(Iqdd,'Iqdd','Iqdd.mat')
|
|
|
|
CGen.logmsg('\t%s\n',' done!');
|
|
end
|
|
|
|
%% M-Functions
|
|
if CGen.genmfun
|
|
CGen.genmfunfdyn;
|
|
end
|
|
|
|
%% Embedded Matlab Function Simulink blocks
|
|
if CGen.genslblock
|
|
CGen.genslblockfdyn;
|
|
end
|
|
|
|
end
|