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D_Data_Gen.m
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% clear
clc
close all
hrobot = harryBotDef;
% hrobot = robotDef
%% Set Parameters
syms theta1 theta2 theta3 theta4 theta5 theta6
interval = [33*3,14*2,12*2,1,1,1];
% limit_cnc = [400,1200] % 400:100:1200
limit_cnc = [1100,1200] % 400:100:1200
% interval = [15,6,6,1,1,1];
limit_var = [2000,2000,2601];
DH_param = [[200;890;150;0;0;0] [-3.14/2; 0; -3.14/2; 3.14/2; -3.14/2; 0] [680;0;0;880;0;140] [theta1;theta2-pi()/2;theta3;theta4;theta5;theta6]]
ROM_param = [[165 -165];[95 -70]; [65 -60]; [200 -200]; [120 -120]; [400 -400]] .*(pi()/180.0)
final_time_steps = 1;
for i = 2:length(interval)
final_time_steps = final_time_steps*interval(i);
end
%% Find other prop from DH parameters
global d
global a
d = [DH_param(1,3) DH_param(2,3) DH_param(3,1)];
a = [DH_param(1,1) DH_param(2,1) sum(DH_param(4:6,3))];
%% Crate 2D Workspace Array
plot2d_arr = array_2d_gen
%% Draw Canvas
fh1 = figure();
fh1.WindowState = 'maximized';
axh = axes;
hold(axh, 'on')
% axis([1000 2000 -1000 1000])
axis([-2000 2000 -2000 2000])
draw_pt = [900,1800]
A = plot2d_arr(3,:)
min(A)
plot3d_arr2 = [];
for angle1 = linspace(ROM_param(1,2),ROM_param(1,1),interval(1))
Transform_arr = [draw_pt.*cos(angle1); draw_pt.*sin(angle1)];
plot3d_arr2 = [plot3d_arr2 Transform_arr];
end
x = plot3d_arr2(1,:)
y = plot3d_arr2(2,:)
% plot(x,y)
hold on
k = boundary(x',y',0.9);
plot(x(k),y(k),'Color','b')
axis equal
xlabel("X-axis"); ylabel("Y-axis")
xy = [0,0];
xy_mat = [];
i=1;
while ~isempty(xy)
xy = ginput(1);
if ~isempty(xy)
xy_mat(i,1) = xy(1)
xy_mat(i,2) = xy(2)
i=i+1;
plot(axh, xy(1), xy(2));
plot(axh, xy(1), xy(2), 'bo', 'MarkerSize', 8, 'MarkerFaceColor', 'b');
% plot(axh, xy(1), xy(2),'MarkerFaceColor', 'b');
end
end
hold off
close(fh1)
%% Plot 3D Surface Workspace
xy_mat2 = path_gen(xy_mat);
saveas(1,"path_gen/" + string(data_crate_count) + "_path-gen.svg","svg")
saveas(1,"path_gen/" + string(data_crate_count) + "_path-gen.png","png")
%% Inversed Kinematic
xc = [];
yc = [];
zc = [];
count = 1
coor_xyz = []
% zc_lim = linspace(limit_cnc(1),limit_cnc(2),2
for i = flip(linspace(limit_cnc(1),limit_cnc(2),3))
for j =1:length(xy_mat2)
xc = xy_mat2(j,1); yc = xy_mat2(j,2); zc = i;
% zc = i;
[path_single,err] = inv_kine([xc,yc,zc]);
coor_xyz(count,:) = [xc,yc,zc];
path(count,:) = path_single;
count = count + 1;
end
end
coor_xyz
%%
% Tau = hrobot.gravload([0 0 0])
% path_xyz1 = readmatrix("rectangle_coor_xyz.csv");
% path_xyz1 = readmatrix("rectangle_coor_xyz.csv");
% path_xyz = [path_xyz1(1:33,1:2)*1.5 - 200, path_xyz1(1:33,3)];
path_xyz = coor_xyz;
% path_xyz = [path_xyz1(:,1:2)*1.5 - 200, path_xyz1(:,3)];
path_pre = []
for i=1:length(path_xyz)
path_pre(i,:) = deg2rad(inv_kine(path_xyz(i,:)))
end
%% Plot 1: Sgolayfilt Angle
f1 =figure(2)
path_fit = sgolayfilt(path_pre,3,11)
f1.Position = [10 10 500 600]
f1.Name = "path-filtering"
for i=1:3
subplot(3,1,i)
plot(path_pre(:,i),'-x','DisplayName',"Before")
hold on
plot(path_fit(:,i),'-x','DisplayName',"After")
xlabel("Time"); ylabel(["q_"+int2str(i)+" (rad)"])
l = legend; l.Location = "best"
hold off
end
% saveas(1,"1_path-filtering.svg","svg")
saveas(2,"path_filter/" + string(data_crate_count) + "_path-filtering.svg","svg")
saveas(2,"path_filter/" + string(data_crate_count) + "_path-filtering.png","png")
path = path_fit
%% Path Diff and Forward Kinematics
time = linspace(0,10,length(path));
pathd = [zeros(1,3); diff(path)];
pathdd = [zeros(1,3); diff(pathd)];
pathcoord=[];
for i = 1:length(path)
% i
path_T_mat = double(double(hrobot.fkine(path(i,:))));
pathcoord(i,:) = path_T_mat(1:3,4);
end
%% RNE - Inversed Dynamics
Q = hrobot.rne(path, pathd, pathdd);
writematrix([path Q],"dataset/idyn_data.csv",'WriteMode','append')
%%
% net = fitnet(10);
% view(net)
% net = train(net,path', Q');
%%
% net = trainNetwork(Q, path,layers,options);
%%
% save net
%
% load net
% Q_deep = net(path(1:50,:)')'
% genFunction(net, 'robotFcn');
%%
% path_intep = interp1(time(1:end-20), path(1:end-20,:), time);
% Q_deep = robotFcn(path(1:end-20,:))
%% Control - Forward Dynamics
KP=[1 200 100];
KD=[1 3 3];
% % % KP = [1 1 1];
% % % KD = [1 1 1];
qreal1=joint_control(hrobot,path, pathd, pathdd, Q, KP, KD);
% qdeep1=joint_control(hrobot,path(1:length(Q_deep),:), pathd(1:length(Q_deep),:), pathdd(1:length(Q_deep),:), Q_deep, KP, KD);
writematrix([qreal1 Q],"dataset/fdyn_data.csv",'WriteMode','append')
%% Forward Kinematics
realcoord = [];
qreal = qreal1;
for i=1:length(qreal)
T1 = double(double(hrobot.fkine(qreal(i,:))));
realcoord(:,i) = [T1(1,4) T1(2,4) T1(3,4)];
end
realcoord = realcoord'
%% Plot 2: Path Comparison
f2=figure(3)
f2.Name = "Path-Comparison"
plot3path(pathcoord)
hold on
plot3path(realcoord)
% plot3path(deepcoord)
view(3) % view at top
% plot3path(path_xyz/1000)
legend(["Planning","Actual","ANN"],"Box","off",'Location','best')
axis equal
hold off
saveas(3,"2_path-compare.svg",'svg')
saveas(3,"path_compare/" + string(data_crate_count) + "_path-compare.svg","svg")
saveas(3,"path_compare/" + string(data_crate_count) + "_path-compare.png","png")
%%
close all
clc
data_crate_count = data_crate_count + 1
fprintf("-------------------------\n")
fprintf("FINISHED GEN DATA %0.2d\n",data_crate_count)
fprintf("-------------------------\n")
%% Plot 3: Each joint response
% f = figure(3)
% f.Position = [10 10 500 200]
% % for i = 1:1
% i =3
% % subplot(size(path,2),1,i)
% plot(time,path(:,i),'-x','DisplayName',["Planning q"+int2str(i)])
% hold on
% plot(time,qreal1(:,i),'-x','DisplayName',["Actual q"+int2str(i)])
% l = legend; xlabel("Time"); ylabel(["q_"+int2str(i)+" (rad)"])
% l.Location = "best"
% % title(["KP = "+int2str(KP(i))+", KD = " + int2str(KD(i))])
% title(sprintf('KP = %0.2f, KD = %0.2f, KI = %0.2f',KP(i), KD(i),KI(i)))
% hold off
% % end
% saveas(3,"3_plot_q.svg","svg")
%% Plot 3: Each joint response
% f = figure(3)
% f.Position = [10 10 500 600]
% % l_deep = length(Q_deep)
% time = 1:length(Q_deep);
% for i = 1:3
% subplot(size(path,2),1,i)
% plot(time,path(1:l_deep,i),'-x','DisplayName',["Planning q"+int2str(i)])
% hold on
% plot(time,qreal(1:l_deep,i),'-x','DisplayName',["Actual q"+int2str(i)])
% plot(time,qdeep1(1:l_deep,i),'-x','DisplayName',["Deep q"+int2str(i)])
% l = legend; xlabel("Time"); ylabel(["q_"+int2str(i)+" (rad)"])
% l.Location = "best"
% % title(["KP = "+int2str(KP(i))+", KD = " + int2str(KD(i))])
% title(sprintf('KP = %0.2f, KD = %0.2f',KP(i), KD(i)))
% hold off
% end
% saveas(3,"3_plot_q.svg","svg")
%% Plot Animate
% figure
% plot3path(realcoord)
% hold on
% plot3path(pathcoord)
% % plot3path(path_xyz/1000)
% legend(["realcoord","pathcoord"],"Box","off",'Location','best')
% axis equal
% axis([-3 3 -3 3 0 3])
% grid on
% for i=1:length(path_xyz)
% % path(i,:) = deg2rad(inv_kine(path_xyz(i,:)))
% hrobot.plot([qreal(i,:)])
% pause(0.001);
% end
% % hrobot.plot3d(qreal1)
%% Def Function
function E=joint_control(hrobot,q,qd,qdd,Tau,KP,KD)
T=linspace(1,length(q),length(q))
% CF=1;
R=0.003;
J=0.01;
B=0;
for i=1:length(q)
i
for j=1:3
% f = @(t,x)[x(2);-CF*KP(j)/(R*J)*x(1) - (R*B +CF^2 +CF*KD(j))/ (R*J)*x(2) + CF*KP(j)*q(i,j)/(R*J) + CF*KP(j)/(R*J)*qd(i,j) - Tau(i,j)/J];
f = @(t,x)[x(2);-KP(j)/(R*J)*x(1) - (R*B +KD(j))/ (R*J)*x(2) + KP(j)*q(i,j)/(R*J) + KP(j)/(R*J)*qd(i,j) - Tau(i,j)/J];
if (i==1)
[t,x] = ode15s(f,[T(i) T(i+1)],[ q(length(q),j);qd(length(q),j)]);
last=length(t);
E(i,j)=x(last,1);
end
if(i<length(q) && i~=1)
[t,x]=ode15s(f,[T(i) T(i+1)],[ q(i-1,j);qd(i-1,j)]);
last=length(t);
E(i,j)=x(last,1);
end
if(i==length(q))
E(length(q),j)=E(1,j);
end
end
end
end
function plot3path(path_xyz)
hold on
plot3(path_xyz(:,1),path_xyz(:,2),path_xyz(:,3),'-x')
end
function array_out = path_gen(array_in)
figure(1)
new_x_arr = []; new_y_arr = []
x = [array_in(:,1); array_in(1,1)];
y = [array_in(:,2); array_in(1,2)];
% fprintf("x: %d\n",length(x))
for i = 1:(length(x)-1)
% i
new_x = [linspace(x(i),x(i+1),10)];
new_y = interp1(x(i:i+1),y(i:i+1),new_x);
new_x_arr = [new_x_arr new_x(2:end-1)];
new_y_arr = [new_y_arr new_y(2:end-1)];
end
new_x_arr = [new_x_arr new_x_arr(1)];
new_y_arr = [new_y_arr new_y_arr(1)];
array_out = [new_x_arr; new_y_arr]';
plot(x,y,"-o")
hold on
plot(new_x_arr, new_y_arr,"-x")
hold off
axis equal
legend('original-path','gen-path')
end
function plot2d_arr = array_2d_gen()
% Read 2D Array from CSV (In case of didn't need calculation)
plot2d_raw = readmatrix('plot2d_data.csv');
plot2d_cutz = []
plot2d_cutz = (plot2d_raw(1,:) >= 0);
x_cut = plot2d_raw(1,plot2d_cutz);
z_cut = plot2d_raw(3,plot2d_cutz);
plot2d_arr = [x_cut; zeros(1,length(z_cut)); z_cut];
% fprintf("Finished Read 2D Array\n")
end