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Other side MTKv9 #61

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merged 8 commits into from
Jun 12, 2024
Merged

Other side MTKv9 #61

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163429a
move flexibility to the other side of the gearbox
baggepinnen Nov 9, 2023
0273e7e
rm files
baggepinnen Nov 9, 2023
f309e3a
JSComp bug
baggepinnen Nov 9, 2023
9c0edb9
up manifest
baggepinnen Jun 5, 2024
25f452b
Merge branch 'other_side' into other_side_MTKv9
baggepinnen Jun 5, 2024
66a95a4
update sensor ratio
baggepinnen Jun 5, 2024
eff806c
add ptp
baggepinnen Jun 11, 2024
9adbbbe
propagate speed and acc bounds
baggepinnen Jun 11, 2024
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436 changes: 262 additions & 174 deletions Manifest.toml
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18 changes: 15 additions & 3 deletions docs/src/examples/robot.md
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@ using Test

t = Multibody.t
D = Differential(t)
@named robot = Multibody.Robot6DOF(trivial=true)
@named robot = Multibody.Robot6DOF(trivial=false)
robot = complete(robot)

length(equations(robot))
Expand All @@ -37,7 +37,7 @@ prob = ODEProblem(ssys, Dict([
robot.axis1.motor.Jmotor.phi => deg2rad(-60) * -105 # Multiply by gear ratio
robot.axis2.motor.Jmotor.phi => deg2rad(20) * 210
robot.axis3.motor.Jmotor.phi => deg2rad(90) * 60
]), (0.0, 4.0))
]), (0.0, 2.0))
sol = solve(prob, Rodas5P(autodiff=false));
@test SciMLBase.successful_retcode(sol)

Expand Down Expand Up @@ -68,7 +68,19 @@ plot!(sol, idxs = [
], sp=7:12, lab="Position error", link=:x)
plot!(xlabel=[fill("", 1, 9) fill("Time [s]", 1, 3)])
```
We see that after an initial transient, the robot controller converges to tracking the reference trajectory well.
We see that after an initial transient, the robot controller converges to tracking the reference trajectory well. However, since the first three axes of the robot are modeled as slightly flexible, and we are ultimately interested in the tracking performance _after_ the gear box and any flexibilities it may suffer from, we plot also this tracking error
```@example robot
plot(sol, idxs = [
robot.axis1.controller.feedback1.output.u / ( -105)
robot.axis2.controller.feedback1.output.u / (210)
robot.axis3.controller.feedback1.output.u / (60)
], layout=(1,3), lab="Position error, motor side", link=:x)
plot!(sol, idxs = [
robot.pathPlanning.controlBus.axisControlBus1.angle_ref - robot.mechanics.r1.phi #
robot.pathPlanning.controlBus.axisControlBus2.angle_ref - robot.mechanics.r2.phi #
robot.pathPlanning.controlBus.axisControlBus3.angle_ref - robot.mechanics.r3.phi #
], lab="Position error, arm side")
```



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