import sys import numpy as np from scipy.spatial.transform import Rotation as R from .base_controller import BaseController from .arm_state import ArmState from pathlib import Path sys.path.append(str(Path(__file__).resolve().parent.parent)) import time from tools.yaml_operator import read_yaml class AdmittanceZController(BaseController): def __init__(self, name, state:ArmState,config_path) -> None: super().__init__(name, state) self.load_config(config_path) def load_config(self, config_path): config_dict = read_yaml(config_path) if self.name != config_dict['name']: raise ValueError(f"Controller name {self.name} does not match config name {config_dict['name']}") mass_tran = np.array(config_dict['mass_tran']) mass_rot = np.array(config_dict['mass_rot']) stiff_tran = np.array(config_dict['stiff_tran']) stiff_rot = np.array(config_dict['stiff_rot']) desired_xi = np.array(config_dict['desired_xi']) damp_tran = np.array(config_dict['damp_tran']) damp_rot = np.array(config_dict['damp_rot']) self.pos_scale_factor = config_dict['pos_scale_factor'] self.rot_scale_factor = config_dict['rot_scale_factor'] for i in range(2): if damp_tran[i] < 0: damp_tran[i] = 2 * desired_xi * np.sqrt(stiff_tran[i] * mass_tran[i]) if damp_rot[i] < 0: damp_rot[i] = 2 * desired_xi * np.sqrt(stiff_rot[i] * mass_rot[i]) if damp_rot[2] < 0: damp_rot[2] = 2 * desired_xi * np.sqrt(stiff_rot[i] * mass_rot[i]) self.M_trans = np.diag(mass_tran[:2]) self.M_rot = np.diag(mass_rot) self.M_z = mass_tran[2] self.M = np.diag(np.concatenate([mass_tran, mass_rot])) self.M_trans_inv = np.linalg.inv(self.M_trans) self.M_rot_inv = np.linalg.inv(self.M_rot) self.K_trans = np.diag(stiff_tran[:2]) self.K_rot = np.diag(stiff_rot) self.K_z = stiff_tran[2] self.K_trans_inv = np.linalg.inv(self.K_trans) self.K_rot_inv = np.linalg.inv(self.K_rot) self.D_trans = np.diag(damp_tran[:2]) self.D_rot = np.diag(damp_rot) self.D_z = damp_tran[2] self.laset_print_time = 0 self.pose_integral_error = np.zeros(6) def step(self,dt): # 方向统一 if self.state.desired_orientation.dot(self.state.arm_orientation) < 0: self.state.arm_orientation = -self.state.arm_orientation # 缓存常用计算 arm_ori_quat = R.from_quat(self.state.arm_orientation) arm_ori_mat = arm_ori_quat.as_matrix() # 位置误差 temp_pose_error = self.state.arm_position - self.state.desired_position self.state.pose_error[:3] = arm_ori_mat.T @ temp_pose_error # 姿态误差(四元数) rot_err_quat = arm_ori_quat.inv() * R.from_quat(self.state.desired_orientation) self.state.pose_error[3:] = -rot_err_quat.as_rotvec(degrees=False) # 期望加速度 wrench_err = self.state.external_wrench_tcp - self.state.desired_wrench self.state.arm_desired_acc[:2] = self.M_trans_inv @ (wrench_err[:2] - self.D_trans @ (self.state.arm_desired_twist[:2] -self.state.desired_twist[:2]) - self.K_trans @ self.state.pose_error[:2]) self.state.arm_desired_acc[2] = 1/self.M_z * (wrench_err[2] - self.D_z * (self.state.arm_desired_twist[2] -self.state.desired_twist[2]) - self.K_z * self.state.pose_error[2]) self.state.arm_desired_acc[3:] = self.M_rot_inv @ (wrench_err[3:] - self.D_rot @ (self.state.arm_desired_twist[3:] -self.state.desired_twist[3:]) - self.K_rot @ self.state.pose_error[3:]) self.clip_command(self.state.arm_desired_acc, "acc") ## 更新速度和位姿 self.state.arm_desired_twist += self.state.arm_desired_acc * dt self.clip_command(self.state.arm_desired_twist, "vel") # 计算位姿变化 delta_pose = np.concatenate([ arm_ori_mat @ (self.state.arm_desired_twist[:3] * dt), self.state.arm_desired_twist[3:] * dt ]) self.clip_command(delta_pose, "pose") # 更新四元数 delta_ori_quat = R.from_rotvec(delta_pose[3:]).as_quat() arm_ori_quat_new = arm_ori_quat * R.from_quat(delta_ori_quat) self.state.arm_orientation_command = arm_ori_quat_new.as_quat() # 归一化四元数 self.state.arm_orientation_command /= np.linalg.norm(self.state.arm_orientation_command) # 更新位置 self.state.arm_position_command = self.state.arm_position + delta_pose[:3] def step_traj(self,dt): # 方向统一 if self.state.desired_orientation.dot(self.state.arm_orientation) < 0: self.state.arm_orientation = -self.state.arm_orientation # 缓存常用计算 arm_ori_quat = R.from_quat(self.state.arm_orientation) arm_ori_mat = arm_ori_quat.as_matrix() # 位置误差 temp_pose_error = self.state.arm_position - self.state.desired_position + self.state.desired_twist[:3] * dt self.state.pose_error[:3] = arm_ori_mat.T @ temp_pose_error # 姿态误差(四元数) angular_velocity = np.array(self.state.desired_twist[3:]) # 形状 (3,) # 用旋转向量(小角度近似) rotvec = angular_velocity * dt # 旋转向量 = 角速度 × 时间 rot_quat = R.from_rotvec(rotvec).as_quat() # 转成四元数,形状 (4,) rot_err_quat = R.from_quat(rot_quat).inv() * arm_ori_quat.inv() * R.from_quat(self.state.desired_orientation) self.state.pose_error[3:] = -rot_err_quat.as_rotvec(degrees=False) # 期望加速度 wrench_err = self.state.external_wrench_tcp - self.state.desired_wrench self.state.arm_desired_acc[:2] = self.M_trans_inv @ (wrench_err[:2] - self.D_trans @ (self.state.arm_desired_twist[:2] -self.state.desired_twist[:2] + self.state.desired_acc[:2]*dt) - self.K_trans @ self.state.pose_error[:2]) + self.state.desired_acc[:2] self.state.arm_desired_acc[2] = 1/self.M_z * (wrench_err[2] - self.D_z * (self.state.arm_desired_twist[2] -self.state.desired_twist[2] + self.state.desired_acc[2]*dt) - self.K_z * self.state.pose_error[2]) + self.state.desired_acc[2] self.state.arm_desired_acc[3:] = self.M_rot_inv @ (wrench_err[3:] - self.D_rot @ (self.state.arm_desired_twist[3:] -self.state.desired_twist[3:] + self.state.desired_acc[3:]*dt) - self.K_rot @ self.state.pose_error[3:]) + self.state.desired_acc[3:] self.clip_command(self.state.arm_desired_acc, "acc") ## 更新速度和位姿 self.state.arm_desired_twist += self.state.arm_desired_acc * dt self.clip_command(self.state.arm_desired_twist, "vel") # 计算位姿变化 delta_pose = np.concatenate([ arm_ori_mat @ (self.state.arm_desired_twist[:3] * dt), self.state.arm_desired_twist[3:] * dt ]) self.clip_command(delta_pose, "pose") # 更新四元数 delta_ori_quat = R.from_rotvec(delta_pose[3:]).as_quat() arm_ori_quat_new = arm_ori_quat * R.from_quat(delta_ori_quat) self.state.arm_orientation_command = arm_ori_quat_new.as_quat() # 归一化四元数 self.state.arm_orientation_command /= np.linalg.norm(self.state.arm_orientation_command) # 更新位置 self.state.arm_position_command = self.state.arm_position + delta_pose[:3] if __name__ == "__main__": state = ArmState() controller = AdmittanceZController("admittance",state,"/home/zyc/admittance_control/MassageControl/config/admittance.yaml") print(controller.name) print(controller.state.arm_position) state.arm_position = np.array([1,2,3]) print(controller.state.arm_position) print(controller.M) print(controller.D) print(controller.K)