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Interaction_model.m
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close all;
clear;
clc;
warning('off');
iiwapath = 'D:\KUKA\KST-Kuka-Sunrise-Toolbox-master\KST-Kuka-Sunrise-Toolbox-master\Matlab_client';
addpath(genpath(iiwapath));
ip = '172.31.1.147';
arg1 = KST.LBR14R820;
arg2 = KST.Medien_Flansch_elektrisch;
Tef_flange = eye(4);
iiwa = KST(ip, arg1, arg2, Tef_flange);
flag = iiwa.net_establishConnection();
if flag == 0
return;
end
disp('机器人已连接！');
pause(1);
try
targetForce = [0; 0; 40];
MassofTool = 0.5;
Gravity = [0; 0; 9.81];
CenofTool=[0; 0; 0];
runTime = 20*60;
fs = 50;
timeInt = 1 / fs;
timeVec = 0:timeInt:runTime;
totalLoop = length(timeVec);
t = 0;
% Control Loop
ALL_EEFForce = [];
ALL_EEFCartPose =[];
ALL_EEFadmitCartPose = [];
ALL_TimeInt = [];
% Initialize force control variables
PosErrorLast = [0; 0; 0];
VelErrorLast = [0; 0; 0];
AccErrorLast = [0; 0; 0];
% Initialize addmittance parameter
K_cartesian = diag([500, 500, 500]);
B_cartesian = diag([50, 50, 50]);
M_cartesian = diag([0.9, 0.9, 0.9]);
fprintf('Cartesian position acting at end effector:\n')
init_eef_cart = cell2mat(iiwa.getEEFPos());
disp(init_eef_cart);
RotaM = iiwa.getEEFOrientationR();
%G = RotaM * MassofTool * Gravity;
init_pos = [init_eef_cart(1), init_eef_cart(2), init_eef_cart(3)];
init_ori = [init_eef_cart(4), init_eef_cart(5), init_eef_cart(6)];
fprintf('Cartesian position acting at end effector:\n')
ALL_EEFCartPose = [ALL_EEFCartPose init_pos'];
disp(ALL_EEFCartPose);
EEFTarget = zeros(3, totalLoop);
EEFTarget(1,1) = init_pos(1);
EEFTarget(2,1) = init_pos(2);
EEFTarget(3,1) = init_pos(3);
iiwa.realTime_startDirectServoCartesian();
controlSignal = init_eef_cart;
inputcontrolSignal = num2cell(controlSignal);
init_eef_force = cell2mat(iiwa.sendEEfPositionGetEEF_Force_rel_EEF(inputcontrolSignal));
Delta_F = targetForce - init_eef_force';
tic;
while(t <= runTime)
t0 = toc;
AccError(3) = M_cartesian(3,3) * (Delta_F(3) - B_cartesian(3,3) * VelErrorLast(3) - K_cartesian(3,3) * PosErrorLast(3));
VelError(3) = VelErrorLast(3) + AccError(3) * (t0 - t);
PosError(3) = PosErrorLast(3) + VelError(3) * (t0 - t);
PosError_Base = RotaM * [0; 0; PosError(3)];
PosTargetNew(1) = EEFTarget(1) - PosError_Base(1);
PosTargetNew(2) = EEFTarget(2) - PosError_Base(2);
PosTargetNew(3) = EEFTarget(3) - PosError_Base(3);
PosTargetNew = [PosTargetNew(1); PosTargetNew(2); PosTargetNew(3)];
ALL_EEFadmitCartPose = [ALL_EEFadmitCartPose PosTargetNew];
controlSignal = [PosTargetNew(1), PosTargetNew(2), PosTargetNew(3), init_eef_cart(4), init_eef_cart(5), init_eef_cart(6)];
inputcontrolSignal = num2cell(controlSignal);
readcurrentpose = cell2mat(iiwa.sendEEfPositionGetActualEEFpos(inputcontrolSignal));
EEFCartNow = [readcurrentpose(1); readcurrentpose(2); readcurrentpose(3)];
ALL_EEFCartPose = [ALL_EEFCartPose EEFCartNow];
eef_force = cell2mat(iiwa.sendEEfPositionGetEEF_Force_rel_EEF(inputcontrolSignal));
ALL_EEFForce = [ALL_EEFForce eef_force'];
Delta_F = targetForce - eef_force';
EEFTarget = PosTargetNew;
PosErrorLast = PosError;
VelErrorLast = VelError;
AccErrorLast = AccError;
t = toc;
fprintf('时间t:\n')
disp(t);
ALL_TimeInt = [ALL_TimeInt t];
end
iiwa.realTime_stopDirectServoCartesian();
catch exception
disp(['Error: ', getReport(exception)]);
end
iiwa.net_turnOffServer( );
warning('on');
rmpath(genpath(iiwapath));
outputFileName = sprintf('%02d%02d%02d%02d.xlsx', month(datetime), day(datetime), hour(datetime), minute(datetime));
ALL_EEFForce = ALL_EEFForce';
ALL_EEFCartPose = ALL_EEFCartPose';
ALL_EEFadmitCartPose = ALL_EEFadmitCartPose';
ALL_TimeInt = ALL_TimeInt';
writematrix(ALL_EEFForce, outputFileName, 'Sheet', 'EEFForce');
writematrix(ALL_EEFCartPose, outputFileName, 'Sheet', 'EEFCartPose');
writematrix(ALL_EEFadmitCartPose, outputFileName, 'Sheet', 'EEFadmitCartPose');
writematrix(ALL_TimeInt, outputFileName, 'Sheet', 'TimeInt');
disp(['数据已保存到文件：', outputFileName]);