def __init__(self, R=HM.HybridTwoLinkManipulator()): """ """ RminComputedTorqueController.__init__(self, R) self.lam = 1 # Sliding surface slope self.D = 1 # Discontinuous gain self.nab = 0.1 # min convergence rate
def __init__(self, R=HM.HybridTwoLinkManipulator(), R_index=0): """ """ CTC.ComputedTorqueController.__init__(self, R) self.R_index = R_index # Fixed gear ratio index # Integral action with dist observer (beta) self.dist_obs_active = False self.obs = OBS.DistObserver(R) self.obs.ishybrid = True
def __init__(self, R=HM.HybridTwoLinkManipulator(), R_index=0): """ """ CTC.ComputedTorqueController.__init__(self, R) self.R_index = R_index # Fixed gear ratio index # Slding Params self.lam = 1 # Sliding surface slope self.D = 1 # Discontinuous gain self.nab = 0.1 # min convergence rate # Integral action with dist observer (beta) self.dist_obs_active = False self.obs = OBS.DistObserver(R) self.obs.ishybrid = True
def __init__(self, R=HM.HybridTwoLinkManipulator()): """ """ CTC.ComputedTorqueController.__init__(self, R) self.n_gears = 4 self.hysteresis = False self.hys_level = 1 self.last_gear_i = 0 # Default gear self.min_delay = -10000 # default is not constraint self.last_shift_t = -1 # Integral action with dist observer (beta) self.dist_obs_active = False self.obs = OBS.DistObserver(R)
def __init__( self , R = HM.HybridTwoLinkManipulator() ): """ """ RCTC.RminSlidingModeController.__init__( self , R ) self.FixCtl = RCTC.RfixSlidingModeController( R ) # Assign Rollout Controller to Simulation Model self.R.ctl = self.FixCtl.ctl # Rollout Params self.horizon = 1 self.sim_dt = 0.02 self.sim_n = self.horizon / self.sim_dt + 1 # Domain check in simulation? self.domain_check = True self.domain_fail_cost = 1
# -*- coding: utf-8 -*- """ Created on Sun Mar 6 15:27:04 2016 @author: alex """ from AlexRobotics.dynamic import Hybrid_Manipulator as HM from AlexRobotics.planning import RandomTree as RPRT from AlexRobotics.control import RminComputedTorque as RminCTC import numpy as np import matplotlib.pyplot as plt R = HM.HybridTwoLinkManipulator() R.ubar = np.array([0, 0, 3]) x_start = np.array([3, 0, 0, 0]) x_goal = np.array([0, 0, 0, 0]) RRT = RPRT.RRT(R, x_start) T = 5 # RRT.U = np.array([[T, 0, 0], [0, 0, 0], [-T, 0, 0], [0, T, 0], [0, -T, 0], [T, T, 0], [-T, -T, 0], [-T, T, 0], [T, -T, 0], [T, 0, 1], [0, 0, 1], [-T, 0, 1], [0, T, 1], [0, -T, 1], [T, T, 1], [-T, -T, 1], [-T, T, 1], [T, -T, 1], [T, 0, 2], [0, 0, 2], [-T, 0, 2], [0, T, 2], [0, -T, 2], [T, T, 2], [-T, -T, 2], [-T, T, 2], [T, -T, 2], [T, 0, 3], [0, 0, 3], [-T, 0, 3],
# -*- coding: utf-8 -*- """ Created on Sun Mar 6 15:27:04 2016 @author: alex """ from AlexRobotics.dynamic import Hybrid_Manipulator as HM from AlexRobotics.planning import RandomTree as RPRT from AlexRobotics.control import RminComputedTorque as RminCTC import numpy as np import matplotlib.pyplot as plt R = HM.HybridOneLinkManipulator() # Assign controller Ctl = RminCTC.RminSlidingModeController( R ) #Ctl = RminCTC.RminComputedTorqueController( R ) #Ctl = RminCTC.RfixSlidingModeController( R , 1 ) R.ctl = Ctl.ctl Ctl.n_gears = 2 Ctl.w0 = 1.0 Ctl.lam = 1.0 Ctl.nab = 1.0 Ctl.D = 0 Ctl.hysteresis = True
# -*- coding: utf-8 -*- """ Created on Sun Mar 6 15:27:04 2016 @author: alex """ from AlexRobotics.dynamic import Hybrid_Manipulator as HM from AlexRobotics.planning import RandomTree as RPRT from AlexRobotics.control import RminComputedTorque as RminCTC from AlexRobotics.control import RolloutComputedTorque as RollCTC import numpy as np import matplotlib.pyplot as plt R_ctl = HM.HybridTwoLinkManipulator() # Controller model R = HM.HybridTwoLinkManipulator() # Simulator # Assign controller Rollout = RollCTC.RolloutSlidingModeController( R_ctl ) Rollout.goal = np.array([0,0,0,0]) Rollout.FixCtl.lam = 1.0 Rollout.FixCtl.D = 2.0 Rollout.FixCtl.nab = 1.0 Rollout.n_gears = 4 Rollout.hysteresis = True Rollout.min_delay = 0.5 Rollout.horizon = 0.5
name_traj = 'data/3D_sol_'+ test_name +'.npy' ################################### # Issues with non-blocking figures if not(plt.isinteractive()): print 'Terminal Mode' terminal = True plt.ion() else: terminal = False print 'Spyder Mode' #################################### R = HM.HybridThreeLinkManipulator() R.x_ub[0] = np.pi R.x_ub[1] = np.pi R.x_ub[2] = np.pi R.x_lb[0] = - np.pi R.x_lb[1] = - np.pi R.x_lb[2] = - np.pi R.ubar = np.array([0,0,0,0]) x_start = np.array([0,0,1.5,0,0,0]) x_goal = np.array([-3,0,-1.5,0,0,0]) RRT = RPRT.RRT( R , x_start )