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leg_calibration_v2.m
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leg_calibration_v2.m
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% 单腿运动学标定,将leg_base姿态角也作为标定参数(论文使用版本)
clear;
close all
u2y = 0.232; %config(1)
u2z = 0.134; %config(2)
u3y = 0.232; %config(3)
u3z = -0.134; %config(4)
s2x = 0; %config(5)
s2y = 0.059; %config(6)
s2z = 0.034; %config(7)
s3x = 0; %config(8)
s3y = 0.059; %config(9)
s3z = -0.034; %config(10)
sfx = 0.142; %config(11)
sfy = -0.034; %config(12)
sfz = 0; %config(13)
home_pos = [0.669, 0.69, 0.69]; %config(14:16)
config = [u2y, u2z, u3y, u3z, s2x, s2y, s2z, s3x, s3y, s3z, sfx, sfy, sfz, home_pos];
stroke = 0.41;
leg_base_pe = [ -0.43322 , 0 , -0.19907, pi/2, pi* 2/3, -pi/2-pi*70/180;
-0.48305 , 0 , 0, pi/2, pi* 3/3, -pi/2-pi*70/180;
-0.43322 , 0 , 0.19907, pi/2, pi* 4/3, -pi/2-pi*70/180;
0.43322 , 0 , -0.19907, pi/2, pi* 1/3, -pi/2-pi*70/180;
0.48305 , 0 , 0, pi/2, pi* 0/3, -pi/2-pi*70/180;
0.43322 , 0 , 0.19907, pi/2, pi* 5/3, -pi/2-pi*70/180];
% 标定的腿的序号
leg_id = 0;
leg = Leg(config, stroke, leg_base_pe(leg_id + 1,:));
target_pee = dlmread('calibration\target_pee.txt')';
nPee = length(target_pee);
target_input = zeros(3,nPee);
target_pee2b = zeros(3,nPee);
for i = 1:nPee
leg.setPee(target_pee(:,i));
target_input(:,i) = leg.q;
target_pee2b(:,i) = leg.Pee_b;
end
leg_base_ori = dlmread('calibration_20190914\Sphere Centers.txt',',',0,1);
leg_base_ori = leg_base_ori./1000;
hm = dlmread('calibration_20190914\hm.txt',',',0,1);
hm = hm'./1000;
rc = dlmread('calibration_20190914\rc.txt',',',0,1);
rc = rc'./1000;
% 标定1号腿(LM)
base_pe = leg_base_pe(leg_id + 1,:);
base_pe(1:3) = leg_base_ori(leg_id + 1,:);
filename = ['calibration_20190914\l' num2str(leg_id) 'pee.txt'];
measured_pee = dlmread(filename);
measured_pee = measured_pee'./1000;
% 测量位姿与指令位姿的差
pee_error = measured_pee - target_pee;
norm_error = sum(pee_error.^2,1).^(1/2);
max(norm_error(:))
fun = @(e)cal_input_error(e, config, base_pe, stroke, measured_pee, target_input);
% fun = @(e)cal_input_error(e, stroke, measured_pee, target_input);
param_errors = zeros(1,19);
ub = [0.002, 0.002, 0.002, 0.002, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.002, 0.002, 0.002, 0.005, 0.005, 0.005, 0.02, 0.02, 0.02];
lb = -ub;
% options_1 = optimoptions('lsqnonlin','Algorithm','levenberg-marquardt','Display','iter');
% error_cali = lsqnonlin(fun,param_errors,[],[],options_1);
options_2 = optimoptions('lsqnonlin','Display','iter');
[error_cali,resnorm,residual,exitflag,output,lambda,jacobian] = lsqnonlin(fun,param_errors,lb,ub,options_2);
%% 计算辨识矩阵
n1 = length(param_errors);
delta_q0 = fun(param_errors);
n2 = length(delta_q0);
T = zeros(n2,n1);
eps = 1e-4;
for i = 1:n1
delta_param = zeros(1,n1);
delta_param(i) = eps;
T(:,i) = (fun(delta_param) - delta_q0)./eps;
end
rank(T)
cond(T)
[Q,R] = qr(T);
%% 绘图
dq_init = cal_input_error(param_errors, config, leg_base_pe(leg_id + 1,:), stroke, measured_pee, target_input);
dq_compensated = cal_input_error(error_cali, config, base_pe, stroke, measured_pee, target_input);
% dq_init = cal_input_error(config, stroke, measured_pee_veri, target_input_veri);
% dq_compensated = cal_input_error(config_cali_2, stroke, measured_pee_veri, target_input_veri);
disp('标定前的输入误差(mm):')
disp(1000*max(abs(dq_init)))
disp('标定后的输入误差(mm):')
disp(1000*max(abs(dq_compensated)))
config_updated = config + error_cali(1:16);
base_pe_updated = base_pe + [0,0,0,error_cali(17:19)];
leg_compensated = Leg(config_updated, stroke, base_pe_updated);
compensated_pee = zeros(size(measured_pee));
measured_pee_error = zeros(1,length(measured_pee));
compensated_pee_error = zeros(1,length(measured_pee));
for i = 1:length(measured_pee)
measured_pee_error(i) = 1000.*norm(measured_pee(:,i) - target_pee2b(:,i));
leg_compensated.setQ(target_input(:,i),target_pee(:,i));
calculated_pee = leg_compensated.Pee_b;
compensated_pee(:,i) = calculated_pee;
compensated_pee_error(i) = 1000.*norm(measured_pee(:,i) - compensated_pee(:,i));
end
% 足尖坐标误差
plot(measured_pee_error,'--s')
hold on
plot(compensated_pee_error,'-o')
hold off
xlabel('Calibration configuration')
ylabel('Euclidean error (mm)')
legend('Before compensation','After compensation','Location','east')
% 输入误差
dq_init_norm = zeros(nPee,1);
dq_compensated_norm = zeros(nPee,1);
for i = 1:nPee
dq_init_norm(i) = 1000*max(abs(dq_init(3*i-2:3*i)));
dq_compensated_norm(i) = 1000*max(abs(dq_compensated(3*i-2:3*i)));
end
figure
color1 = [0 0.4470 0.7410];
color2 = [0.8500 0.3250 0.0980];
plot(dq_init_norm,'-o','LineWidth',1,'MarkerSize',3,'MarkerFaceColor',color1)
hold on
plot(dq_compensated_norm,'-s','LineWidth',1,'MarkerSize',4,'MarkerFaceColor',color2)
hold off
fontsz=10;
legend('Before compensation','After compensation','Location','east')
set(gca,'Position',[0.15 0.2 0.8 0.75],'FontSize',fontsz,'FontName','Times New Roman');
set(gcf,'Position',[232 246 360 260]);
xlabel('Calibration configurations','FontSize',fontsz,'FontName','Times New Roman');
ylabel('Maximum input errors (mm)','FontSize',fontsz,'FontName','Times New Roman');
xlim([1 nPee]);
xticks(1:2:nPee);
yticks(0:1:6);
box off
%% 将标定结果写入文本文件
output = error_cali';
U2ipe = leg_compensated.U2ipe(1:3)';
U3ipe = leg_compensated.U3ipe(1:3)';
S2ipe = leg_compensated.S2ipe(1:3)';
S3ipe = leg_compensated.S3ipe(1:3)';
Sfipe = leg_compensated.Sfipe(1:3)';
home_pos = leg_compensated.home_pos';
fileID = fopen(['calibration_20190914\leg' num2str(leg_id) '_param.txt'],'w');
fprintf(fileID,'U2i, \t%2.5f, %2.5f, %2.5f\n',U2ipe);
fprintf(fileID,'U3i, \t%2.5f, %2.5f, %2.5f\n',U3ipe);
fprintf(fileID,'S2i, \t%2.5f, %2.5f, %2.5f\n',S2ipe);
fprintf(fileID,'S3i, \t%2.5f, %2.5f, %2.5f\n',S3ipe);
fprintf(fileID,'Sfi, \t%2.5f, %2.5f, %2.5f\n',Sfipe);
fprintf(fileID,'home_pos, \t%2.5f, %2.5f, %2.5f\n',home_pos);
fprintf(fileID,'leg_base, \t%2.5f, %2.5f, %2.5f, %2.5f, %2.5f, %2.5f\n', base_pe_updated);
fclose(fileID);
%% 函数定义
function dq = cal_input_error(param_errors,config, base_pe, stroke, pee, input, n)
if nargin < 7
n = length(pee);
end
input_error = zeros(3,n);
nc = length(config);
config_updated = config + param_errors(1:nc);
base_pe_updated = base_pe + [0,0,0,param_errors(nc+1:end)];
for i = 1:n
leg = Leg(config_updated, stroke, base_pe_updated);
leg.setPee(pee(:,i),'B');
input_error(:,i) = leg.q - input(:,i);
end
dq = reshape(input_error,[],1);
end