136 lines
6.5 KiB
Python
Executable File
136 lines
6.5 KiB
Python
Executable File
import sys
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import numpy as np
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from scipy.spatial.transform import Rotation as R
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from .arm_state import ArmState
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from .base_controller import BaseController
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from pathlib import Path
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sys.path.append(str(Path(__file__).resolve().parent.parent))
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from tools.yaml_operator import read_yaml
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import time
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class AdmitHybridController(BaseController):
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def __init__(self, name, state: ArmState,config_path) -> None:
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super().__init__(name, state)
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self.load_config(config_path)
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self.laset_print_time = 0
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def load_config(self, config_path):
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config_dict = read_yaml(config_path)
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if self.name != config_dict['name']:
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raise ValueError(f"Controller name {self.name} does not match config name {config_dict['name']}")
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desired_xi = np.array(config_dict['desired_xi'])
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damp_tran = np.array(config_dict['damp_tran'])
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# TODO 修改控制率
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self.e_t = 0
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self.e_t1 = 0
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self.e_t2 = 0
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self.force_control_value = 0
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# 姿态 3x3矩阵
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self.Kp = np.diag(np.array(config_dict['Kp']))
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self.Ki = np.diag(np.array(config_dict['Ki']))
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self.Kd = np.diag(np.array(config_dict['Kd']))
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self.pose_integral_error = np.zeros(6)
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# 导纳xyz位置调节器
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mass_tran = np.array(config_dict['mass_tran'])
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stiff_tran = np.array(config_dict['stiff_tran'])
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damp_tran = np.array(config_dict['damp_tran'])
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for i in range(3):
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if damp_tran[i] < 0:
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damp_tran[i] = 2 * desired_xi * np.sqrt(stiff_tran[i] * mass_tran[i])
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self.M_tran = np.diag(mass_tran)
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self.M_tran_inv = np.linalg.inv(self.M_tran)
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self.K_tran = np.diag(stiff_tran)
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self.D_tran = np.diag(damp_tran)
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def step(self,dt):
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# 方向统一
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if self.state.desired_orientation.dot(self.state.arm_orientation) < 0:
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self.state.arm_orientation = -self.state.arm_orientation
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# 缓存常用计算
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arm_ori_quat = R.from_quat(self.state.arm_orientation)
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arm_ori_mat = arm_ori_quat.as_matrix()
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# 位置误差
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temp_pose_error = self.state.arm_position - self.state.desired_position
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self.state.pose_error[:3] = arm_ori_mat.T @ temp_pose_error
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# 姿态误差(四元数)
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rot_err_quat = arm_ori_quat.inv() * R.from_quat(self.state.desired_orientation)
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self.state.pose_error[3:] = -rot_err_quat.as_rotvec(degrees=False)
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wrench_err = self.state.external_wrench_tcp - self.state.desired_wrench
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self.pose_integral_error += self.state.pose_error * dt
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# 姿态pid
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self.state.arm_desired_acc[3:] = -self.Kd @ self.state.arm_desired_twist[3:] - self.Kp @ self.state.pose_error[3:] - self.Ki @ self.pose_integral_error[3:]
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# 位置导纳控制
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self.state.arm_desired_acc[:3] = self.M_tran_inv @ (wrench_err[:3] - self.D_tran @ (self.state.arm_desired_twist[:3] - self.state.desired_twist[:3])-self.K_tran @ self.state.pose_error[:3])
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self.clip_command(self.state.arm_desired_acc, "acc")
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## 更新速度和位姿
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self.state.arm_desired_twist += self.state.arm_desired_acc * dt
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self.clip_command(self.state.arm_desired_twist, "vel")
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# 计算位姿变化
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delta_pose = np.concatenate([
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arm_ori_mat @ (self.state.arm_desired_twist[:3] * dt),
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self.state.arm_desired_twist[3:] * dt
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])
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self.clip_command(delta_pose, "pose")
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# 更新四元数
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delta_ori_quat = R.from_rotvec(delta_pose[3:]).as_quat()
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arm_ori_quat_new = arm_ori_quat * R.from_quat(delta_ori_quat)
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self.state.arm_orientation_command = arm_ori_quat_new.as_quat()
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# 归一化四元数
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self.state.arm_orientation_command /= np.linalg.norm(self.state.arm_orientation_command)
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# 更新位置
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self.state.arm_position_command = self.state.arm_position + delta_pose[:3]
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def step_traj(self,dt):
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# 方向统一
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if self.state.desired_orientation.dot(self.state.arm_orientation) < 0:
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self.state.arm_orientation = -self.state.arm_orientation
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# 缓存常用计算
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arm_ori_quat = R.from_quat(self.state.arm_orientation)
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arm_ori_mat = arm_ori_quat.as_matrix()
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# 位置误差
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temp_pose_error = self.state.arm_position - self.state.desired_position + self.state.desired_twist[:3] * dt
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self.state.pose_error[:3] = arm_ori_mat.T @ temp_pose_error
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# 姿态误差(四元数)
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angular_velocity = np.array(self.state.desired_twist[3:]) # 形状 (3,)
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# 用旋转向量（小角度近似）
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rotvec = angular_velocity * dt # 旋转向量 = 角速度 × 时间
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rot_quat = R.from_rotvec(rotvec).as_quat() # 转成四元数，形状 (4,)
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rot_err_quat = R.from_quat(rot_quat).inv() * arm_ori_quat.inv() * R.from_quat(self.state.desired_orientation)
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self.state.pose_error[3:] = -rot_err_quat.as_rotvec(degrees=False)
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# 期望加速度
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wrench_err = self.state.external_wrench_tcp - self.state.desired_wrench
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self.pose_integral_error += self.state.pose_error * dt
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# 姿态pid
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self.state.arm_desired_acc[3:] = -self.Kd @ self.state.arm_desired_twist[3:] - self.Kp @ self.state.pose_error[3:] - self.Ki @ self.pose_integral_error[3:]
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# 位置导纳控制
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self.state.arm_desired_acc[:3] = self.M_tran_inv @ (wrench_err[:3] - self.D_tran @ (self.state.arm_desired_twist[:3] - self.state.desired_twist[:3] + self.state.desired_acc[:3]*dt)-self.K_tran @ self.state.pose_error[:3]) + self.state.desired_acc[:3]
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self.clip_command(self.state.arm_desired_acc, "acc")
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## 更新速度和位姿
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self.state.arm_desired_twist += self.state.arm_desired_acc * dt
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self.clip_command(self.state.arm_desired_twist, "vel")
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# 计算位姿变化
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delta_pose = np.concatenate([
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arm_ori_mat @ (self.state.arm_desired_twist[:3] * dt),
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self.state.arm_desired_twist[3:] * dt
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])
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self.clip_command(delta_pose, "pose")
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# 更新四元数
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delta_ori_quat = R.from_rotvec(delta_pose[3:]).as_quat()
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arm_ori_quat_new = arm_ori_quat * R.from_quat(delta_ori_quat)
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self.state.arm_orientation_command = arm_ori_quat_new.as_quat()
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# 归一化四元数
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self.state.arm_orientation_command /= np.linalg.norm(self.state.arm_orientation_command)
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# 更新位置
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self.state.arm_position_command = self.state.arm_position + delta_pose[:3]
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