Hello everyone
I am trying to drive my robot using torque. I am using Robotic system toolbox mainly in simulink.
My model consists of:
1. Trajectory Velocity Profile block that has a square trajectory defined in task space. It has 3 outputs, all 3x1 vectors: q,qd,qdd.
2. I supply q output to Coordinate Transformation Conversion and than to Inverse Kinematics. It gives me the needed joint configuration for my task space trajectory. Its a 2x1 vector since my robot is a 2dof robot.
3. I added Inverse Dynamics block in order to control my robot through torque. Its inputs are:
Config: I supply that from Inverse Kinematics
JointVel: I got joint velocities by using Get Jacobian block and supplying config output of Inverse Kiematics to in, than getting the last 3 rows of it since those are the linear velocities, doing a pseudo inverse, and mulitplying that with qd from Trajectory using Matrix multiply.
JointAccel: No idea how to get that, would appreciate help.
4. I than supply torque output of Inverse Dynamics to my robot.
Here is an image of how it looks:
I tried multiple ways of building that system.
My goal is to basically control robot using toruq in task space. Robot has to do a square with its en effector. Becouse model includes dynamics square wont be perfect as it would be if i just included kinematics. Than I will build a control system to improve trajectory following.
But how do i make the robot at least try to do my desired trajectory?
How do i compute join acceclerations for Inverse Dynamics block?
Is there an example/tutorial of how to control a robot in task space with dynamics(preferably using Robotic System toolbox in simulink)? All i could find were joint space videos/posts.
I will appreciate all the help.
Best regards,
Szymon
