Ltf matlab source
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potential function
ltf_pf-2009_12_16.m
fname = 'static_test_experiment_log-20091216_1.txt';
s = importdata(fname);
% compute the JR3 DC offset from the first 2 log entries which are +-0.2 amps
dc = (s.data(1,:) + s.data(2,:) )/2;
ndx = 1:length(s.data); % use full data set
bd_pos = s.data(ndx,1);
current = s.data(ndx,2);
qiq = s.data(ndx,3);
ank_pos = s.data(ndx,4);
lw = s.data(ndx,5);
jr3z = s.data(ndx,8) - dc(8); % apply DC correction, grab the Fz component
jr3x = s.data(ndx,6) - dc(6);
jr3y = s.data(ndx,7) - dc(7);
ndx = find( bd_pos == -11000)
subplot(2,1,1);
plot(jr3z(ndx), ank_pos(ndx)/2048,'.'); grid on
title('Ak motor rotations, vs JR3 force at Bw=-11000, Imot=-9 : 9 amps')
ylabel('Ak motor rotations')
xlabel('JR3z force N')
subplot(2,1,2);
plot(lw(ndx), ank_pos(ndx)/2048,'.'); grid on
title('Ak motor rotations, vs LW force at Bw=-11000, Imot=-9 : 9 amps')
xlabel('LW force N (over 12 hrs)')
ylabel('Ak motor rotations')
ltf_bd_dep-121509.m
fname = 'static_test_experiment_log-121509.txt';
s = importdata(fname);
% compute the JR3 DC offset from the first 2 log entries which are +-0.2 amps
dc = (s.data(1,:) + s.data(2,:) )/2;
ndx = 1:length(s.data);
bd_pos = s.data(ndx,1);
current = s.data(ndx,2);
qiq = s.data(ndx,3);
ank_pos = s.data(ndx,4);
lw = s.data(ndx,5);
jr3z = s.data(ndx,8) - dc(8); % apply DC correction, grab the Fz component
jr3x = s.data(ndx,6) - dc(6);
jr3y = s.data(ndx,7) - dc(7);
whos
% sift the data, find the index positions where the current is a specific value
ndx = find( current == 9.0);
ndx2 = find( current == -9.0);
subplot(2,1,1);
plot( bd_pos(ndx) , [jr3z(ndx), jr3z(ndx2)],'.'); grid on;
legend('+9amps)','-9amps');
title('Dependence of JR3 force on backdrive position (exp 121509)')
ylabel('newtons')
xlabel('back drive motor position');
subplot(2,1,2);
plot( bd_pos(ndx) , [lw(ndx), lw(ndx2)],'.'); grid on;
legend('+9amps)','-9amps');
title('Dependence of LW force on backdrive position (exp 121509)')
ylabel('newtons')
xlabel('back drive motor position');
saveas(gcf, 'force_dependence_on_bd_posion_121509.png')
