VRsim/robotproperty.m at master · eternal-golden-braid/VRsim · GitHub

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% Robot Property
%

function robot=robotproperty(id)
robot.name = id;
switch id
    case 'LRMate200iD'
        %the constants
        robot.nlink=6;
        robot.umax=10;
        robot.margin=0.05;
        robot.delta_t=0.05;
        robot.thetamax=[100,  90,  130, 180, 120, 150;
                        -100, -90, -72, -180, -120, -150]'*pi/180;
        robot.thetadotmax=[1;1.5;1.5;0.5;0.5;0.5];
        %The length of each links and DH parameter and base
        robot.l=[2;6;5];
        robot.DH=[0,0,0.050,-1.5708;
                  -1.5708,0,0.330,3.1416;
                  0,0,0.035,-1.5708;
                  0,-0.335,0,1.5708;
                  0,0,0,-1.5708;
                  0,-0.080,0,3.1416];%theta,d,a,alpha
        robot.base=[0;0;0.329+0.2];%origin
        robot.cap={};
        robot.cap{1}.p=[0 0;0 0;0 0];
        robot.cap{1}.r=0;

        robot.cap{2}.p=[-0.36 0;0 0;0 0];
        robot.cap{2}.r=0.13;

        robot.cap{3}.p=[-0.03 -0.03;0 0;0.05 0.05];
        robot.cap{3}.r=0;

        robot.cap{4}.p=[0 0;0 0.35;0 0];
        robot.cap{4}.r=0.08;

        robot.cap{5}.p=[0 0;0 0;-0.3 0.010];
        robot.cap{5}.r=0.09;

        robot.cap{6}.p=[0.05 0.17;0 0; 0.135 0.135];
        robot.cap{6}.r=0;

        load('figure\LRMate200iDCapsules.mat');
        robot.boundary=RoBoundary;
        robot.boundary{7} = [];


    case 'LRMate200iD7L'
        %the constants
        robot.nlink=6;
        robot.umax=10;
        robot.margin=3;
        robot.delta_t=0.05;
        %The length of each links and DH parameter and base
        robot.l=[0.65;0.77;0.1;0.74;0;0.1];
        robot.DH=[0,0,0.050,  -1.5708;
                  -1.5708,0,0.440,3.1416;
                  0,0,0.035,-1.5708;
                  0,-0.42    ,0,1.5708;
                  0,0,0,-1.5708;
                  0,-0.080,0,3.1416];%theta,d,a,alpha
        robot.base=[0;0;0];%origin
        robot.cap={};
        robot.cap{1}.p=[0 0;0 0;-0.1 0.1];
        robot.cap{1}.r=0.15;

        robot.cap{2}.p=[-0.75 0;0 0;-0.15 -0.15];
        robot.cap{2}.r=0.13;

        robot.cap{3}.p=[-0.03 -0.03;0 0;0.05 0.05];
        robot.cap{3}.r=0.22;

        robot.cap{4}.p=[0 0;0 0.55;0 0];
        robot.cap{4}.r=0.11;

        robot.cap{5}.p=[0 0;0 0;-0.05 0.110];
        robot.cap{5}.r=0.07;

        robot.cap{6}.p=[-0.11 -0.11;0 0; 0.09 0.09];
        robot.cap{6}.r=0.11;

        load('figure/M16iBCapsules.mat');
        robot.boundary=RoBoundary;

    case 'M16iB'
        %the constants
        robot.nlink=6;
        robot.umax=10;
        robot.thetamax=[-pi,pi;0,pi;-pi,pi;-pi,pi;-pi/2,pi/2;-pi,pi];
        robot.thetadotmax=[1;1;1;1;0.5;0.5];
        robot.margin=0.5;
        robot.delta_t=0.5;
        %The length of each links and DH parameter and base
        robot.l=[0.65;0.77;0.1;0.74;0;0.1];
        robot.DH=[0, 0.65, 0.15, 1.5708;
            1.5708, 0, 0.77, 0;
            0, 0, 0.1, 1.5708;
            0, 0.74, 0, -1.5708;
            -pi/2, 0, 0, 1.5708;
            pi, 0.1, 0, 0];%theta,d,a,alpha
        robot.base=[0;0;0];%origin

        robot.cap={};
        robot.cap{1}.p=[0 0;0 0;-0.1 0.1];
        robot.cap{1}.r=0.15;

        robot.cap{2}.p=[-0.75 0;0 0;-0.15 -0.15];
        robot.cap{2}.r=0.13;

        robot.cap{3}.p=[-0.03 -0.03;0 0;0.05 0.05];
        robot.cap{3}.r=0.22;

        robot.cap{4}.p=[0 0;0 0.55;0 0];
        robot.cap{4}.r=0.11;

        robot.cap{5}.p=[0 0;0 0;-0.05 0.110];
        robot.cap{5}.r=0.07;

        robot.cap{6}.p=[-0.11 -0.11;0 0; 0.09 0.09];
        robot.cap{6}.r=0.11;

        load('figure/M16iBCapsules.mat');
        robot.boundary=RoBoundary;
end

%The kinematic matrices
robot.A=[eye(robot.nlink) robot.delta_t*eye(robot.nlink);
        zeros(robot.nlink) eye(robot.nlink)];
robot.B=[0.5*robot.delta_t^2*eye(robot.nlink);
        robot.delta_t*eye(robot.nlink)];
robot.Ac=[eye(3) robot.delta_t*eye(3);
        zeros(3) eye(3)];
robot.Bc=[0.5*robot.delta_t^2*eye(3);
        robot.delta_t*eye(3)];
robot.C=[];
robot.D=[];
robot.Q=[];
robot.R=[];

robot.x(1:robot.nlink*2,1)=[robot.DH(:,1);zeros(robot.nlink,1)];%(theta1,theta2,theta,3,theta1dot,theta2dot,theta3dot)
robot.pos=CapPos(robot.base,robot.DH,robot.cap);
robot.wx(1:3,1)=robot.pos{robot.nlink}.p(:,2);
robot.wx(4:6,1)=[0;0;0];%endpoint state(x4,y4,z4,x4dot,y4dot,z4dot)
robot.mx=robot.wx;%closest point state

robot.ref.x=robot.x;
robot.innoise=0;
robot.outnoiseself=0;
robot.outnoisestar=0;
robot.obs.xself=[];
robot.obs.xstar=[];
robot.obs.goal=[];

robot.obs.A=robot.A;
robot.obs.B=robot.B;
robot.obs.C=robot.C;
robot.obs.D=robot.D;
robot.obs.Q=robot.Q;
robot.obs.R=robot.R;
robot.score=0;
robot.flag=0;


%For SSA
robot.const.P1=[eye(robot.nlink) zeros(robot.nlink);zeros(robot.nlink) zeros(robot.nlink)];
robot.const.P2=[zeros(robot.nlink) 0.5*eye(robot.nlink);0.5*eye(robot.nlink) zeros(robot.nlink)];
robot.const.P3=[zeros(robot.nlink) zeros(robot.nlink);zeros(robot.nlink) eye(robot.nlink)];

%For collision check
robot.profile={};
end