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Quentin Leboutet 2023-03-27 02:21:12 +02:00 committed by GitHub
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@ -84,7 +84,7 @@ You can choose which algorithm to execute and which result to send to the post-p
* If you wish to generate a new bunch of experiment data, set the "**regenerateData**" flag to "true", in the script "**run_identification_benchmark.m**".
* At the next execution of the benchmarrk, the robot model will track the excitation trajectory using a noisy PID controller.
* PID gains and noise levels are defined for each robots in the file "**Benchmark/Robot_Data_Generation/Dynamic_Model_Generation/Robot_Description_Files/<robot_name>.m**" as:
* PID gains and noise levels are defined for each robots in the file "**Utils/SymbolicModelData/Robot_Description_Files/<robot_name>.m**" as:
```matlab
robot.controlParameters.Kp % Proportional gains
robot.controlParameters.Ki % Integral Gains
@ -114,10 +114,10 @@ You can choose which algorithm to execute and which result to send to the post-p
### Adding a new robot to the benchmark
This is actually pretty simple, provided that you know the Denavit Hartenberg parameters of your robot (classic or modified) and have a rough idea of its dynamic parameters.
Robot models are defined within dedicated files, contained in the folder "**Benchmark/Robot_Data_Generation/Dynamic_Model_Generation/Robot_Description_Files**". The function "**Benchmark/Robot_Data_Generation/Dynamic_Model_Generation/loadRobotModelParameters.m**" will parse the desired description file.
Robot models are defined within dedicated files, contained in the folder "**Utils/SymbolicModelData/Robot_Description_Files**". The function "**Benchmark/Robot_Data_Generation/Dynamic_Model_Generation/loadRobotModelParameters.m**" will parse the desired description file.
This functon takes the name of your robot as an argument (e.g. **mySuperRobot**), and returns a "**robot**" data structure which can in turn be used in the rest of the benchmark.
To add a new robot, just create a new file in the folder "**Benchmark/Robot_Data_Generation/Dynamic_Model_Generation/Robot_Description_Files**". The name of the file should be that of the robot and should follow the structure of the other robot description files of the folder:
To add a new robot, just create a new file in the folder "**Utils/SymbolicModelData/Robot_Description_Files**". The name of the file should be that of the robot and should follow the structure of the other robot description files of the folder:
```matlab
robot.name = 'mySuperRobot'; % Name of the robot
robot.nbDOF = 4; % Number of Degrees Of Freedom (DOF)
@ -125,7 +125,7 @@ To add a new robot, just create a new file in the folder "**Benchmark/Robot_Data
...
```
Then add a reference to this file in the "switch" condition of **Benchmark/Robot_Data_Generation/Dynamic_Model_Generation/loadRobotModelParameters.m**.
Take a look at the examples already available in "**Benchmark/Robot_Data_Generation/Dynamic_Model_Generation/Robot_Description_Files**".
Take a look at the examples already available in "**Utils/SymbolicModelData/Robot_Description_Files**".
### Adding a new identification algorithm to the benchmark