Example_3DOF_Puma_withoutRTB.m

%% Example Code : Puma560 (3 DOF, Robotics Toolbox is not required) 

% made by Terry Taewoong Um (terry.t.um@gmail.com)
% Adaptive Systems Lab., University of Waterloo

% - All 6 by 1 spatial vectors are represented as [angular motion; linear motion]
%   (e.g. V = [w1; w2; w3; v1; v2; v3])
% - Link 1 is reserved for the ground link

% Example Code
% 1. Load a model from Robotics Toolbox or build a model manually
% 2. Set the desired trajectory q, q', q"
% 3. Call the forward kinematics function or inverse kinematic function
% 4. Plot the results

close all;  clearvars; 
%% 1. Load a model from Robotics Toolbox or manually build a model
% You can use either of the RTB model or a hand crafted model

% % [RTB model]
% mdl_puma560_3;
% robotRTB = p560;
% robotModel = Model_from_RTB(robotRTB);      % Get a Lie group based robot model from the robotics toolbox model

% [Hand-crafted model]
robotModel = Model_3DOF_Puma560();  

%% 2. Set a desired trajectory
[q_query dq_query ddq_query] = SetTrajectory(robotModel.nLink-1);     % Set the desired trajectory as you want
[nData nDim] = size(q_query);

%% 3. Call the forward kinematics function or inverse kinematic function
for ii=1:nData
    % Forward Kinematics
    % T_Result_Lie : Trajectory of the EE       T_AllJointTraj : Trajectories of the all joints    
    [T_Result_Lie(:,:,ii) T_AllJointTraj(:,:,:,ii)]= FwdKin_Serial(robotModel, q_query(ii,:));   % using lie group dynamics (_Lie)
    % Inverse Dynamics
    tau_Result_Lie(ii,:) = InvDyn_Serial(robotModel, q_query(ii,:), dq_query(ii,:), ddq_query(ii,:));   % using lie group dynamics (_Lie)
end
robotModel.T_Moving_Home = T_AllJointTraj;  % Store the trajectory in the robot model

%% 4. Plot the results
% Get (X,Y,Z) positions
for ii=1:nData
    xx_Lie(ii,1) = T_Result_Lie(1,4,ii);    yy_Lie(ii,1) = T_Result_Lie(2,4,ii);        zz_Lie(ii,1) = T_Result_Lie(3,4,ii);
end

%  Plot the results of the forward kinematics and inverse dynamics
figure();
scatter3(xx_Lie,yy_Lie,zz_Lie,'.');
title('Fwd. Kin. using LIE');
xlabel('Samples'); ylabel('EE Position');

figure();
plot(1:nData,tau_Result_Lie);
title('Inv. Dyn. using LIE');
xlabel('time(s)'); ylabel('torque(Nm)');
legend('Joint1', 'Joint2', 'Joint3');

%% 5. Simulating robot motions
% Robot animation using RTB
% figure();   robotRTB.plot(q_query);

% Robot animation using plot3
% Put the robot model as a cell array
myModel = cell(1,1);        myModel{1,1} = robotModel;
bShowFrame = 1;     % 1:Show the frames  0: Do not show them
bEETraj = [1];      % 1:Show the end-effector trajectories  0 : Do not show them 
% axisRange = [-0.8 0.8 -0.8 0.8 -0.8 0.8];       % Axis range for plotting
axisRange = FindAxisRange(myModel);             % Find appropriate axes for plotting motion               
DisplayModel(myModel, axisRange, bShowFrame, bEETraj);   % Display the motion