from AlexRobotics.control import ComputedTorque from AlexRobotics.planning import RandomTree from AlexRobotics.control import DPO ########################### # Objectives ########################### x_start = np.array([-3.0, 0.0]) x_goal = np.array([0.0, 0.0]) ########################### # Create objects ########################### Robot = Manipulator.OneLinkManipulator() PD = linear.PD(kp=5, kd=2) PID = linear.PID(kp=5, kd=2, ki=4) CTC = ComputedTorque.ComputedTorqueController(Robot) SLD = ComputedTorque.SlidingModeController(Robot) RRT = RandomTree.RRT(Robot, x_start) VI = DPO.ValueIteration1DOF(Robot, 'quadratic') ############################ # Params ############################ tmax = 8 # max motor torque Robot.u_ub = np.array([tmax]) # Control Upper Bounds Robot.u_lb = np.array([-tmax]) # Control Lower Bounds
# -*- coding: utf-8 -*- """ Created on Sun Mar 6 15:27:04 2016 @author: alex """ from AlexRobotics.planning import RandomTree as RPRT from AlexRobotics.dynamic import Manipulator as M import numpy as np import matplotlib.pyplot as plt R = M.OneLinkManipulator() tmax = 10 R.u_ub = np.array([tmax]) # Control Upper Bounds R.u_lb = np.array([-tmax]) # Control Lower Bounds x_start = np.array([-3.0, 0]) x_goal = np.array([0, 0]) RRT = RPRT.RRT(R, x_start) RRT.dt = 0.1 RRT.goal_radius = 0.3 RRT.max_nodes = 5000 RRT.max_solution_time = 5 # Dynamic plot