diff --git a/.idea/Mobile_manipulator.iml b/.idea/Mobile_manipulator.iml new file mode 100644 index 0000000..55336c2 --- /dev/null +++ b/.idea/Mobile_manipulator.iml @@ -0,0 +1,12 @@ + + + + + + + + + + \ No newline at end of file diff --git a/.idea/inspectionProfiles/Project_Default.xml b/.idea/inspectionProfiles/Project_Default.xml new file mode 100644 index 0000000..2ace6d0 --- /dev/null +++ b/.idea/inspectionProfiles/Project_Default.xml @@ -0,0 +1,6 @@ + + + + \ No newline at end of file diff --git a/.idea/inspectionProfiles/profiles_settings.xml b/.idea/inspectionProfiles/profiles_settings.xml new file mode 100644 index 0000000..105ce2d --- /dev/null +++ b/.idea/inspectionProfiles/profiles_settings.xml @@ -0,0 +1,6 @@ + + + + \ No newline at end of file diff --git a/.idea/misc.xml b/.idea/misc.xml new file mode 100644 index 0000000..6cd5279 --- /dev/null +++ b/.idea/misc.xml @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/.idea/modules.xml b/.idea/modules.xml new file mode 100644 index 0000000..3369f8a --- /dev/null +++ b/.idea/modules.xml @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/.idea/vcs.xml b/.idea/vcs.xml new file mode 100644 index 0000000..35eb1dd --- /dev/null +++ b/.idea/vcs.xml @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/code/__pycache__/robot.cpython-311.pyc b/code/__pycache__/robot.cpython-311.pyc new file mode 100644 index 0000000..827d987 Binary files /dev/null and b/code/__pycache__/robot.cpython-311.pyc differ diff --git a/code/main.py b/code/main.py index e69de29..6f31b09 100644 --- a/code/main.py +++ b/code/main.py @@ -0,0 +1,37 @@ +from module.trajectory_generatator import TrajectoryGenerator +from module.motion_model import next_state +from module.feedback_control import controller +from robot import Robot +import numpy as np +import matplotlib.pyplot as plt +import csv +def main(): + K_p = 0.1*np.eye(6) + K_i = 10*np.zeros(6) + robot = Robot(K_p, K_i) + + traj = robot.TrajectoryGenerator() + current_state = [0]*13 + state_hitsory = [] + state_hitsory.append(current_state) + X_error_history = [] + for i in range(len(traj)-1): + X_d = traj[i] + V_b, cmd, X_err = robot.controller(X_d=traj[i], X_d_next=traj[i+1], current_state= current_state) + + cmd = cmd[0].tolist()+[traj[i][-1]] + current_state = robot.next_state(current_state, cmd, 0.01, 1) + X_error_history.append(X_err) + state_hitsory.append(current_state) + plt.plot(X_error_history) + plt.show() + + # Write the reference configurations to a .csv file + with open("test1.csv", "w", newline="") as csvfile: + writer = csv.writer(csvfile) + for state in state_hitsory: + writer.writerow(state) + + +if __name__ == '__main__': + main() diff --git a/code/module/__pycache__/__init__.cpython-311.pyc b/code/module/__pycache__/__init__.cpython-311.pyc new file mode 100644 index 0000000..06a6208 Binary files /dev/null and b/code/module/__pycache__/__init__.cpython-311.pyc differ diff --git a/code/module/__pycache__/feedback_control.cpython-311.pyc b/code/module/__pycache__/feedback_control.cpython-311.pyc new file mode 100644 index 0000000..5cf45d5 Binary files /dev/null and b/code/module/__pycache__/feedback_control.cpython-311.pyc differ diff --git a/code/module/__pycache__/motion_model.cpython-311.pyc b/code/module/__pycache__/motion_model.cpython-311.pyc index 965b994..4030027 100644 Binary files a/code/module/__pycache__/motion_model.cpython-311.pyc and b/code/module/__pycache__/motion_model.cpython-311.pyc differ diff --git a/code/module/__pycache__/trajectory_generatator.cpython-311.pyc b/code/module/__pycache__/trajectory_generatator.cpython-311.pyc index 2bc058f..144aec6 100644 Binary files a/code/module/__pycache__/trajectory_generatator.cpython-311.pyc and b/code/module/__pycache__/trajectory_generatator.cpython-311.pyc differ diff --git a/code/module/feedback_control.py b/code/module/feedback_control.py index 66eb111..c5fce52 100644 --- a/code/module/feedback_control.py +++ b/code/module/feedback_control.py @@ -3,25 +3,78 @@ import numpy as np import modern_robotics as mr import matplotlib.pyplot as plt -def controller(X_d, X_d_next, X, delta_t, K_p, K_i): +def rearrange_back(list): + """ + rearrange the 1x12 vector to a matrix T + r11, r12, r13, r21, r22, r23, r31, r32, r33, px, py, pz, gripper state + """ + return np.array( + [ + [list[0], list[1], list[2], list[9]], + [list[3], list[4], list[5], list[10]], + [list[6], list[7], list[8], list[11]], + [0, 0, 0, 1], + ] + ) + +def state_vector2matrix(state): + """ + state:(odemetry_new, arm_joint_angles_new, wheel_angles_new, gripper_state_new) + return matrix T + """ + M0_e = np.array([[1, 0, 0, 0.033], + [0, 1, 0, 0], + [0, 0, 1, 0.6546], + [0, 0, 0, 1]]) + + Blist = np.array([[0, 0, 1, 0, 0.033, 0], + [0, -1, 0, -0.5076, 0, 0], + [0, -1, 0, -0.3526, 0, 0], + [0, -1, 0, -0.2176, 0, 0], + [0, 0, 1, 0, 0, 0]]).T + + theta_list = np.array(state[3:8]) + T_b0 = np.array([[1, 0, 0, 0.1662], [0, 1, 0, 0], [0, 0, 1, 0.0026], [0, 0, 0, 1]]) + phi, x, y = state[0], state[1],state[2] + T_0e = mr.FKinBody(M0_e, Blist, theta_list) + T_sb = np.array( + [[np.cos(phi), -np.sin(phi), 0, x], [np.sin(phi), np.cos(phi), 0, y], [0, 0, 1, 0.0963], [0, 0, 0, 1]]) + return T_sb@T_b0@T_0e +def controller(X_d, X_d_next, current_state, delta_t, K_p, K_i): + """ + return + V_b + cmd + X_err + """ #robot config r = 0.0475 l = 0.235 w = 0.15 - T_b0 = np.array([[1, 0, 0, 0.1662], - [0, 1, 0, 0], - [0, 0, 1, 0.0026], - [0, 0, 0, 1]]) - - M_0e = np.array([[1, 0, 0, 0.033], + M0_e = np.array([[1, 0, 0, 0.033], [0, 1, 0, 0], [0, 0, 1, 0.6546], [0, 0, 0, 1]]) + Blist = np.array([[0, 0, 1, 0, 0.033, 0], + [0, -1, 0, -0.5076, 0, 0], + [0, -1, 0, -0.3526, 0, 0], + [0, -1, 0, -0.2176, 0, 0], + [0, 0, 1, 0, 0, 0]]).T + + theta_list = np.array(current_state[3:8]) # + X_d = state_vector2matrix(X_d) + X_d_next = state_vector2matrix(X_d_next) + V_d = 1./delta_t * mr.MatrixLog6(np.linalg.inv(X_d)@X_d_next) V_d = mr.se3ToVec(V_d) + + # compute X + X = state_vector2matrix(current_state) + + # Ad_V_d = mr.Adjoint(np.linalg.inv(X)@X_d)@V_d X_err = mr.MatrixLog6(np.linalg.inv(X)@X_d) X_err = mr.se3ToVec(X_err) @@ -30,40 +83,34 @@ def controller(X_d, X_d_next, X, delta_t, K_p, K_i): V_b = Ad_V_d + K_p@X_err + delta_t * K_i@X_err # jacobian - Blist = np.array([[0, 0, 1, 0, 0.033, 0], - [0, -1, 0, -0.5076, 0, 0], - [0, -1, 0, -0.3526, 0, 0], - [0, -1, 0, -0.2176, 0, 0], - [0, 0, 1, 0, 0, 0]]).T - theta_list = np.array([0,0,0.2,-1.6, 0]) + J_arm = mr.JacobianBody(Blist, theta_list) F = r/4 * np.array([[0,0,0,0],[0,0,0,0],[-1/(l+w),1/(l+w),1/(l+w),-1/(l+w)],[1,1,1,1],[-1,1,-1,1],[0,0,0,0]]) - T_0e = mr.FKinBody(M_0e, Blist, theta_list) + T_b0 = np.array([[1, 0, 0, 0.1662], [0, 1, 0, 0], [0, 0, 1, 0.0026], [0, 0, 0, 1]]) + T_0e = mr.FKinBody(M0_e, Blist, theta_list) J_base = mr.Adjoint(np.linalg.inv(T_0e)@np.linalg.inv(T_b0))@F Je = np.hstack((J_base, J_arm)) - Je_inv = np.linalg.pinv(Je) - cmd = Je_inv@V_b - return V_b, cmd -def main(): - X_d = np.array([[0,0,1,0.5], - [0,1,0,0], - [-1,0,0,0.5], - [0,0,0,1]]) - X_d_next = np.array([[0,0,1,0.6], - [0,1,0,0], - [-1,0,0,0.3], - [0,0,0,1]]) - X = np.array([[0.170,0,0.985,0.387], - [0,1,0,0], - [-0.985,0,0.170,0.570], - [0,0,0,1]]) # calculated from config - delta_t = 0.01 - K_p = np.zeros((6,6)) - K_i = np.zeros((6,6)) - V_b, cmd = controller(X_d, X_d_next, X, delta_t, K_p, K_i) - print(V_b, cmd) + Je_inv = np.linalg.pinv(Je) -if __name__ == '__main__': - main() \ No newline at end of file + cmd = Je_inv@V_b, + return V_b, cmd, X_err +# def main(): +# X_d = np.array([[0,0,1,0.5], +# [0,1,0,0], +# [-1,0,0,0.5], +# [0,0,0,1]]) +# X_d_next = np.array([[0,0,1,0.6], +# [0,1,0,0], +# [-1,0,0,0.3], +# [0,0,0,1]]) +# current_state = [0,0,0,0,0,0.2,-1.6,0, ] + [0,0,0,0,0] +# delta_t = 0.01 +# K_p = np.zeros((6,6)) +# K_i = np.zeros((6,6)) +# V_b, cmd , X_err= controller(X_d, X_d_next, current_state, delta_t, K_p, K_i) +# print(V_b, cmd) +# +# if __name__ == '__main__': +# main() \ No newline at end of file diff --git a/code/module/motion_model.py b/code/module/motion_model.py index 5b5af72..83ecaea 100644 --- a/code/module/motion_model.py +++ b/code/module/motion_model.py @@ -125,6 +125,7 @@ def main(): state_trajectory.append(new_state) # print(new_state) current_state = new_state + print(state_trajectory[0:10]) #writing csv files in Python diff --git a/code/reference_trajectory_1.csv b/code/reference_trajectory_1.csv new file mode 100644 index 0000000..732f44d --- /dev/null +++ b/code/reference_trajectory_1.csv @@ -0,0 +1,1130 @@ +1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0,0.1992,0.0,0.7535000000000001,0 +1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0,0.1992004429906965,0.0,0.7535002279218073,0 +0.9999999999756326,0.0,6.981035678945174e-06,0.0,1.0,0.0,-6.981035678945174e-06,0.0,0.9999999999756326,0.19920352613520553,0.0,0.753501814205624,0 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+ self.K_i = K_i + + # num of trajectory + self.k = 1 + def next_state( self, current_state, @@ -64,3 +71,14 @@ def TrajectoryGenerator(self): self.Tce_standoff, self.k, ) + + def controller(self, X_d, X_d_next, current_state): + + return feedback_control.controller( + X_d, + X_d_next, + current_state, + self.delta_t, + self.K_p, + self.K_i, + ) \ No newline at end of file diff --git a/code/test1.csv b/code/test1.csv new file mode 100644 index 0000000..948ba67 --- /dev/null +++ b/code/test1.csv @@ -0,0 +1,1130 @@ +0,0,0,0,0,0,0,0,0,0,0,0,0 +-6.539222628007142e-05,2.7748339324266106e-05,1.2765026715425271e-05,0.000952200193392436,-0.0010322651814189828,0.00033343608718258493,-0.0004135010752091498,-0.00047345810733512034,0.0008042280947708919,0.00028169869922911177,-0.0001734075485008295,0.001424147865879706,0.0 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