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178 lines
7.7 KiB
178 lines
7.7 KiB
%CODEGENERATOR.GENMFUNFDYN Generate M-function for forward dynamics
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%
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% cGen.genmfunfdyn() generates a robot-specific M-function to compute
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% the forward dynamics.
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%
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% Notes::
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% - Is called by CodeGenerator.genfdyn if cGen has active flag genmfun
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% - The generated M-function is composed of previously generated M-functions
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% for the inertia matrix, coriolis matrix, vector of gravitational load and
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% joint friction vector. This function recombines these components to compute
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% the forward dynamics.
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% - Access to generated function is provided via subclass of SerialLink
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% whose class definition is stored in cGen.robjpath.
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%
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% Author::
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% Joern Malzahn
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% 2012 RST, Technische Universitaet Dortmund, Germany.
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% http://www.rst.e-technik.tu-dortmund.de
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%
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% See also CodeGenerator.CodeGenerator, CodeGenerator.geninvdyn.
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% Copyright (C) 2012-2013, by Joern Malzahn
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%
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% This file is part of The Robotics Toolbox for Matlab (RTB).
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%
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% RTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% RTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with RTB. If not, see <http://www.gnu.org/licenses/>.
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%
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% http://www.petercorke.com
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%
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% The code generation module emerged during the work on a project funded by
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% the German Research Foundation (DFG, BE1569/7-1). The authors gratefully
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% acknowledge the financial support.
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function [] = genmfunfdyn(CGen)
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%% Does robot class exist?
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if ~exist(fullfile(CGen.robjpath,[CGen.getrobfname,'.m']),'file')
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CGen.logmsg([datestr(now),'\tCreating ',CGen.getrobfname,' m-constructor ']);
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CGen.createmconstructor;
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CGen.logmsg('\t%s\n',' done!');
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end
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checkexistanceofmfunctions(CGen);
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%%
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CGen.logmsg([datestr(now),'\tGenerating m-function for the joint inertial reaction forces/torques' ]);
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symname = 'Iqdd';
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fname = fullfile(CGen.sympath,[symname,'.mat']);
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if exist(fname,'file')
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tmpStruct = load(fname);
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else
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error ('genmfunfdyn:SymbolicsNotFound','Save symbolic expressions to disk first!')
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end
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funfilename = fullfile(CGen.robjpath,[symname,'.m']);
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[q qd] = CGen.rob.gencoords;
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tau = CGen.rob.genforces;
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matlabFunction(tmpStruct.(symname),'file',funfilename,... % generate function m-file
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'outputs', {'Iacc'},...
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'vars', {'rob',q,qd,tau});
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hStruct = createHeaderStructIqdd(CGen.rob,symname); % replace autogenerated function header
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replaceheader(CGen,hStruct,funfilename);
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CGen.logmsg('\t%s\n',' done!');
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%% Generate mfunction for the acceleration
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CGen.logmsg([datestr(now),'\tGenerating joint acceleration m-function:']);
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funfilename = fullfile(CGen.robjpath,'accel.m');
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hStruct = createHeaderStructAccel(CGen.rob,funfilename);
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fid = fopen(funfilename,'w+');
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fprintf(fid, '%s\n', ['function qdd = accel(rob,q,qd,tau)']); % Function definition
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fprintf(fid, '%s\n',constructheaderstring(CGen,hStruct)); % Header
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fprintf(fid, '%s \n', 'qdd = zeros(length(q),1);'); % Code
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funcCall = 'qdd = rob.inertia(q) \ rob.Iqdd(q,qd,tau).'';';
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fprintf(fid, '%s \n', funcCall);
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fclose(fid);
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CGen.logmsg('\t%s\n',' done!');
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end
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function [] = checkexistanceofmfunctions(CGen)
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if ~(exist(fullfile(CGen.robjpath,'inertia.m'),'file') == 2) || ~(exist(fullfile(CGen.robjpath,'Iqdd.m'),'file') == 2)
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CGen.logmsg('\t\t%s\n','Inertia m-function not found! Generating:');
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CGen.genmfuninertia;
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end
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if ~(exist(fullfile(CGen.robjpath,'coriolis.m'),'file') == 2)
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CGen.logmsg('\t\t%s\n','Coriolis m-function not found! Generating:');
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CGen.genmfuncoriolis;
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end
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if ~(exist(fullfile(CGen.robjpath,'gravload.m'),'file') == 2)
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CGen.logmsg('\t\t%s\n','Gravload m-function not found! Generating:');
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CGen.genmfungravload;
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end
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if ~(exist(fullfile(CGen.robjpath,'friction.m'),'file') == 2)
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CGen.logmsg('\t\t%s\n','Friction m-function not found! Generating:');
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CGen.genmfunfriction;
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end
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end
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function hStruct = createHeaderStructIqdd(rob,fName)
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[~,hStruct.funName] = fileparts(fName);
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hStruct.shortDescription = ['Vector of computed inertial forces/torques for ',rob.name];
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hStruct.calls = {['Iacc = ',hStruct.funName,'(rob,q,qd,tau)'],...
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['Iacc = rob.',hStruct.funName,'(q,qd,tau)']};
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hStruct.detailedDescription = {'Given a full set of joint variables, their temporal derivatives and applied joint forces/torques',...
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'this function computes the reaction inertial forces/torques due to joint acceleration.'};
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hStruct.inputs = { ['rob: robot object of ', rob.name, ' specific class'],...
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['q: ',int2str(rob.n),'-element vector of generalized'],...
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' coordinates',...
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['qd: ',int2str(rob.n),'-element vector of generalized'],...
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' velocities', ...
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['tau: ',int2str(rob.n),'-element vector of joint'],...
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' input forces/torques',...
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'Angles have to be given in radians!'};
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hStruct.outputs = {['Iqdd: [1x',int2str(rob.n),'] vector of inertial reaction forces/torques']};
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hStruct.references = {'1) Robot Modeling and Control - Spong, Hutchinson, Vidyasagar',...
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'2) Modelling and Control of Robot Manipulators - Sciavicco, Siciliano',...
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'3) Introduction to Robotics, Mechanics and Control - Craig',...
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'4) Modeling, Identification & Control of Robots - Khalil & Dombre'};
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hStruct.authors = {'This is an autogenerated function!',...
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'Code generator written by:',...
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'Joern Malzahn',...
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'2012 RST, Technische Universitaet Dortmund, Germany',...
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'http://www.rst.e-technik.tu-dortmund.de'};
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hStruct.seeAlso = {'accel'};
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end
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function hStruct = createHeaderStructAccel(rob,fname)
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[~,hStruct.funName] = fileparts(fname);
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hStruct.shortDescription = ['Computation of the joint acceleration for ',rob.name];
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hStruct.calls = {['qdd = ',hStruct.funName,'(rob,q,qd,tau)'],...
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['qdd = rob.',hStruct.funName,'(q,qd,tau)']};
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hStruct.detailedDescription = {'Given a full set of joint variables, their temporal derivatives and applied joint forces/torques',...
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'this function computes the joint acceleration.'};
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hStruct.inputs = { ['rob: robot object of ', rob.name, ' specific class'],...
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['q: ',int2str(rob.n),'-element vector of generalized'],...
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' coordinates',...
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['qd: ',int2str(rob.n),'-element vector of generalized'],...
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' velocities', ...
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['tau: ',int2str(rob.n),'-element vector of joint'],...
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' input forces/torques',...
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'Angles have to be given in radians!'};
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hStruct.outputs = {['qdd: [1x',int2str(rob.n),'] vector of joint accelerations']};
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hStruct.references = {'1) Robot Modeling and Control - Spong, Hutchinson, Vidyasagar',...
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'2) Modelling and Control of Robot Manipulators - Sciavicco, Siciliano',...
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'3) Introduction to Robotics, Mechanics and Control - Craig',...
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'4) Modeling, Identification & Control of Robots - Khalil & Dombre'};
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hStruct.authors = {'This is an autogenerated function!',...
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'Code generator written by:',...
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'Joern Malzahn',...
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'2012 RST, Technische Universitaet Dortmund, Germany',...
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'http://www.rst.e-technik.tu-dortmund.de'};
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hStruct.seeAlso = {'Iqdd'};
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end
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