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NewRobot_Manipulability_Develop_limits.asv
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%% DEFINE NEW LIMB MODEL %%
clear
clc
close all
% This is a 3DOF Antropomorphic arm
% SWING
a1 = 0.0;
a2 = 0.35;
a3 = 0.35;
d1 = 0.1;
a = [0, a2, a3];
d = [d1, 0, 0];
alpha = [-pi/2, 0, 0];
offset = [0, 0, 0];
% Generate the link object associated with the robot model (DH param);
L1 = Link('d', d(1), 'a', a(1), 'alpha', alpha(1), 'offset', offset(1)); % coxa
L2 = Link('d', d(2), 'a', a(2), 'alpha', alpha(2), 'offset', offset(2)); % femur
L3 = Link('d', d(3), 'a', a(3), 'alpha', alpha(3), 'offset', offset(3)); %tibia
L = [L1, L2, L3];
Limb = SerialLink(L);
Limb.name = 'Limb';
Limb.gravity = [0; 0; 9.81]; % gravity acceleration vector expressed in the base frame
%% DEFINE INITIAL ROBOT MODEL
N_limb = 4;
W = 0.45;
L = 0.45;
T_tool = trotx(pi/2)*troty(pi/2)*trotz(pi/2);
q0_contact_swing = [0,-pi/6,pi*2/3];
ROBOT = Robot_model(W, L, Limb,q0_contact_swing, [1 1 1 1], T_tool);
%% DEFINE SCALING MATRIX
q_dot_lim_i = [0.8, 1.8, 2.5];
q_dot_lim = [];
for i=1:N_limb
q_dot_lim = [q_dot_lim, q_dot_lim_i];
end
Q_lim = diag(q_dot_lim);
%Q_lim = eye(N_limb*ROBOT(1).n);
%% INITIALIZE and PLOT
q0 = zeros(N_limb,Limb.n);
q0_contact = q0;
for i=1:N_limb
q0_contact(i,2) = -pi/6;
q0_contact(i,3) = pi*2/3;
end
q0 = q0_contact;
figure('Name', 'Robot DH')
hold on
% Plot Robot
plot_robot(ROBOT, q0);
%% PLOT FRAMES
% Initialize graphics elements
T_base0 = transl(0,0,ROBOT(1).base.t(3));
for i = 1:N_limb
h_root0{i} = trplot(eye(4));
end
h_base0 = trplot(T_base0,'rgb', 'length', 0.1, 'arrow');
h_CoM0 = plot3(0,0,0);
h_base_poly0 = plot3([0 0 0 0 0],[0 0 0 0 0],[0 0 0 0 0]);
h_support0 = plot3([0 0 0 0 0],[0 0 0 0 0],[0 0 0 0 0]);
% Create graphics
[T_limb_root,r_base, h_root, h_base, h_base_poly, h_support, h_CoM] = update_frames(ROBOT, q0, T_base0, W, L, h_root0, h_base0, h_base_poly0, h_support0, h_CoM0);
clear h_root0 h_base0 h_CoM0 h_base_poly0 h_support0
%% BASE MANIPULABILITY ELLIPSOID
% Compute Grasp matrix and then Ellipsoid core
grasp_matrix = compute_grasp_matrix(r_base);
[E_base, Ja] = compute_base_ellipsoid_scaled(ROBOT, q0_contact, grasp_matrix, T_base0, Q_lim);
% Plot ellipsoid, in the base frame
%h_base_ellipse = plot_ellipse(E_base(1:3,1:3),[T_base0(1,4), T_base0(2,4), T_base0(3,4)], 'r', 'alpha', 0.6);
h_base_ellipse = plotEllipsoidLines(E_base(1:3,1:3)^-1,[T_base0(1,4), T_base0(2,4), T_base0(3,4)], 'r');
%% LIMB MANIPULABILITY ELLIPSOID
% Initialization
limbs_mask = [1 1 1 1]; % Visualize all limbs ellipsoid
% Initialize graphical element
for i=1:sum(limbs_mask)
h_limb_ellipses0{i} = plot_ellipse(eye(3));
end
[E_limbs, h_limb_ellipses] = limb_ellipsoids_general_scaled(ROBOT, q0_contact, limbs_mask, h_limb_ellipses0, Q_lim);
clear h_limb_ellipses0
pause
%% MOVE THE BASE
x_motion = 0.0;
y_motion = 0.0;
z_motion = 0.1;
T_base_in = T_base0;
[q_new, T_base] = translate_base(ROBOT, T_base_in, q0_contact, x_motion, y_motion, z_motion);
% Update graphics
plot_robot(ROBOT, q_new);
[T_limb_root,r_base, h_root, h_base, h_base_poly, h_support, h_CoM] = update_frames(ROBOT,q_new, T_base, W, L, h_root, h_base, h_base_poly, h_support, h_CoM);
%% BASE MANIPULABILITY ELLIPSOID
% Compute Grasp matrix and then Ellipsoid core
grasp_matrix = compute_grasp_matrix(r_base);
[E_base, Ja] = compute_base_ellipsoid_scaled(ROBOT, q_new, grasp_matrix, T_base, Q_lim);
% Plot ellipsoid, in the base frame
delete(h_base_ellipse);
h_base_ellipse = plotEllipsoidLines(E_base(1:3,1:3)^-1,[T_base(1,4), T_base(2,4), T_base(3,4)], 'r');
%% LIMB MANIPULABILITY ELLIPSOID
% Initialization
limbs_mask = [1 1 1 1]; % Visualize limbs ellipsoid
[E_limbs, h_limb_ellipses] = limb_ellipsoids_general_scaled(ROBOT, q_new, limbs_mask, h_limb_ellipses, Q_lim);
pause
%% MOVE THE BASE AGAIN
x_motion = 0.0;
y_motion = 0.0;
z_motion = 0.0;
T_base_in = T_base;
[q_new, T_base] = translate_base(ROBOT, T_base_in, q_new, x_motion, y_motion, z_motion);
% Update graphics
plot_robot(ROBOT, q_new);
[T_limb_root,r_base, h_root, h_base, h_base_poly, h_support, h_CoM] = update_frames(ROBOT,q_new, T_base, W, L, h_root, h_base, h_base_poly, h_support, h_CoM);
%% BASE MANIPULABILITY ELLIPSOID
% Compute Grasp matrix and then Ellipsoid core
grasp_matrix = compute_grasp_matrix(r_base);
[E_base, Ja] = compute_base_ellipsoid_scaled(ROBOT, q_new, grasp_matrix, T_base, Q_lim);
% Plot ellipsoid, in the base frame
delete(h_base_ellipse);
%h_base_ellipse = plot_ellipse(E_base(1:3,1:3),[T_base(1,4), T_base(2,4), T_base(3,4)], 'r', 'alpha', 0.6);
h_base_ellipse = plotEllipsoidLines(E_base(1:3,1:3)^-1,[T_base(1,4), T_base(2,4), T_base(3,4)], 'r');
%% LIMB MANIPULABILITY ELLIPSOID
% Initialization
limbs_mask = [1 1 1 1]; % Visualize limbs ellipsoid
[E_limbs, h_limb_ellipses] = limb_ellipsoids_general_scaled(ROBOT, q_new, limbs_mask, h_limb_ellipses, Q_lim);
pause
%% SEQUENTIAL MOTION
% for i=1:8
% pause
% % MOVE THE BASE AGAIN
% x_motion = 0.0;
% y_motion = 0.0;
% z_motion = 0.05;
% T_base_in = T_base;
% [q_new, T_base] = translate_base(ROBOT, T_base_in, q_new, x_motion, y_motion, z_motion);
% % Update graphics
% plot_robot(ROBOT, q_new);
% [T_limb_root,r_base, h_root, h_base, h_base_poly, h_support, h_CoM] = update_frames(ROBOT,q_new, T_base, W, L, h_root, h_base, h_base_poly, h_support, h_CoM);
%
% % BASE MANIPULABILITY ELLIPSOID
% % Compute Grasp matrix and then Ellipsoid core
% grasp_matrix = compute_grasp_matrix(r_base);
% [E_base, Ja] = compute_base_ellipsoid_scaled(ROBOT, q_new, grasp_matrix, T_base, Q_lim);
% % Plot ellipsoid, in the base frame
% delete(h_base_ellipse);
% % h_base_ellipse = plot_ellipse(E_base(1:3,1:3),[T_base(1,4), T_base(2,4), T_base(3,4)], 'r', 'alpha', 0.6);
% h_base_ellipse = plotEllipsoidLines(E_base(1:3,1:3)^-1,[T_base(1,4), T_base(2,4), T_base(3,4)], 'r');
%
%
% % LIMB MANIPULABILITY ELLIPSOID
% % Initialization
% limbs_mask = [1 1 1 1]; % Visualize limbs ellipsoid
% [E_limbs, h_limb_ellipses] = limb_ellipsoids_general_scaled(ROBOT, q_new, limbs_mask, h_limb_ellipses,Q_lim);
% end
%
%
% pause
%% MOVE THE BASE AGAIN
x_motion = 0.0;
y_motion = 0.0;
z_motion = 0.0;
T_base_in = T_base;
[q_new, T_base] = translate_base(ROBOT, T_base_in, q_new, x_motion, y_motion, z_motion);
% Update graphics
plot_robot(ROBOT, q_new);
[T_limb_root,r_base, h_root, h_base, h_base_poly, h_support, h_CoM] = update_frames(ROBOT,q_new, T_base, W, L, h_root, h_base, h_base_poly, h_support, h_CoM);
%% BASE MANIPULABILITY ELLIPSOID
% Compute Grasp matrix and then Ellipsoid core
grasp_matrix = compute_grasp_matrix(r_base);
[E_base, Ja] = compute_base_ellipsoid_scaled(ROBOT, q_new, grasp_matrix, T_base, Q_lim);
% Plot ellipsoid, in the base frame
delete(h_base_ellipse);
%h_base_ellipse = plot_ellipse(E_base(1:3,1:3),[T_base(1,4), T_base(2,4), T_base(3,4)], 'r', 'alpha', 0.6);
h_base_ellipse = plotEllipsoidLines(E_base(1:3,1:3)^-1,[T_base(1,4), T_base(2,4), T_base(3,4)], 'r');
%% LIMB MANIPULABILITY ELLIPSOID
% Initialization
limbs_mask = [1 1 1 1]; % Visualize limbs ellipsoid
[E_limbs, h_limb_ellipses] = limb_ellipsoids_general_scaled(ROBOT, q_new, limbs_mask, h_limb_ellipses, Q_lim);
pause
%% RISE ROBOT LF LIMB
i_rise = 1; % 1=LF, 2=LH, 3=RH, 4=RF
limb_names = ["LF*"; "LH*"; "RH*"; "RF*"];
ROBOT(i_rise).name = limb_names(i_rise, :);
close all
figure('Name','Robot DH')
hold on
q_new = move_limb(ROBOT, q_new, i_rise, 0, 0, 0.15);
plot_robot(ROBOT, q_new);
[T_limb_root,r_base, h_root, h_base, h_base_poly, h_support, h_CoM] = update_frames(ROBOT,q_new, T_base, W, L, h_root, h_base, h_base_poly, h_support, h_CoM);
%% BASE MANIPULABILITY ELLIPSOID
% Compute Grasp matrix and then Ellipsoid core
grasp_matrix = compute_grasp_matrix(r_base);
[E_base, Ja] = compute_base_ellipsoid_scaled(ROBOT, q_new, grasp_matrix, T_base, Q_lim);
% Plot ellipsoid, in the base frame
delete(h_base_ellipse);
h_base_ellipse = plotEllipsoidLines(E_base(1:3,1:3)^-1,[T_base(1,4), T_base(2,4), T_base(3,4)], 'r');
%% LIMB MANIPULABILITY ELLIPSOID
% Initialization
limbs_mask = [1 1 1 1]; % Visualize limbs ellipsoid
[E_limbs, h_limb_ellipses] = limb_ellipsoids_general_scaled(ROBOT, q_new, limbs_mask, h_limb_ellipses, Q_lim);
% SEQUENTIAL MOTION
% for i=1:5
% pause
% % MOVE THE BASE AGAIN
% x_motion = -0.02;
% y_motion = -0.02;
% z_motion = 0.02;
% T_base_in = T_base;
% [q_new, T_base] = translate_base(ROBOT, T_base_in, q_new, x_motion, y_motion, z_motion);
% % Update graphics
% plot_robot(ROBOT, q_new);
% [T_limb_root,r_base, h_root, h_base, h_base_poly, h_support, h_CoM] = update_frames(ROBOT,q_new, T_base, W, L, h_root, h_base, h_base_poly, h_support, h_CoM);
%
% % BASE MANIPULABILITY ELLIPSOID
% % Compute Grasp matrix and then Ellipsoid core
% grasp_matrix = compute_grasp_matrix(r_base);
% [E_base, Ja] = compute_base_ellipsoid_scaled(ROBOT, q_new, grasp_matrix, T_base, Q_lim);
% % Plot ellipsoid, in the base frame
% delete(h_base_ellipse);
% % h_base_ellipse = plot_ellipse(E_base(1:3,1:3),[T_base(1,4), T_base(2,4), T_base(3,4)], 'r', 'alpha', 0.6);
% h_base_ellipse = plotEllipsoidLines(E_base(1:3,1:3)^-1,[T_base(1,4), T_base(2,4), T_base(3,4)], 'r');
%
%
% % LIMB MANIPULABILITY ELLIPSOID
% % Initialization
% limbs_mask = [1 1 1 1]; % Visualize limbs ellipsoid
% [E_limbs, h_limb_ellipses] = limb_ellipsoids_general_scaled(ROBOT, q_new, limbs_mask, h_limb_ellipses, Q_lim);
% end
%% MOVE THE BASE
x_motion = -0.10;
y_motion = -0.10;
z_motion = 0.0;
T_base_in = T_base;
[q_new, T_base] = translate_base(ROBOT, T_base_in, q_new, x_motion, y_motion, z_motion);
% Update graphics
plot_robot(ROBOT, q_new);
[T_limb_root,r_base, h_root, h_base, h_base_poly, h_support, h_CoM] = update_frames(ROBOT,q_new, T_base, W, L, h_root, h_base, h_base_poly, h_support, h_CoM);
%% BASE MANIPULABILITY ELLIPSOID
% Compute Grasp matrix and then Ellipsoid core
grasp_matrix = compute_grasp_matrix(r_base);
[E_base, Ja] = compute_base_ellipsoid_scaled(ROBOT, q_new, grasp_matrix, T_base, Q_lim);
% Plot ellipsoid, in the base frame
delete(h_base_ellipse);
%h_base_ellipse = plot_ellipse(E_base(1:3,1:3),[T_base(1,4), T_base(2,4), T_base(3,4)], 'r', 'alpha', 0.6);
h_base_ellipse = plotEllipsoidLines(E_base(1:3,1:3)^-1,[T_base(1,4), T_base(2,4), T_base(3,4)], 'r');
%% LIMB MANIPULABILITY ELLIPSOID
% Initialization
limbs_mask = [1 1 1 1]; % Visualize limbs ellipsoid
[E_limbs, h_limb_ellipses] = limb_ellipsoids_general_scaled(ROBOT, q_new, limbs_mask, h_limb_ellipses, Q_lim);