Dynamic-Calibration/trajectory_optmzn/coeffs4_UR/b_coeffs.script

b1 = [-0.7092040412,0.5230610431,0.1976180106,-0.2377492599,0.09662808559,-0.0442446606,0.04546091583,-0.05527008338,0.07999041891,-0.1954301078,0.02276381324,-0.0003037708343]
b2 = [16.44144409,1.96646412,0.4413777885,0.01535646862,0.1699440808,-0.04517986656,0.08204914487,0.09802980971,0.1107566817,0.164257973,0.1687008776,-0.1158379341]
b3 = [15.91827703,1.738289041,0.6396138544,0.4400174545,0.06841133754,0.1540512842,-0.01213731937,0.1288104914,0.01749713258,0.2106228112,-0.1025715439,-0.03232628298]
b4 = [3.07591063,0.4116519318,0.1342122544,-0.02000429905,0.1916582385,0.1154067377,0.03839347039,0.01232415683,-0.1919967103,-0.01691073997,0.01163710601,0.04178807472]
b5 = [32.38341148,4.112282002,1.463403865,0.4409561611,0.3426812758,0.1595795442,0.1184208908,0.05993487595,-0.09285686628,0.01674492771,0.09477511091,0.168557236]
b6 = [32.04972222,3.852785925,1.284364462,-0.1618577222,0.456724459,0.2217872019,0.2525677551,0.1450619486,0.09508517903,0.04484496664,0.1612198891,-0.003833787606]
added file that check if optimized trajectory collides with table on which the robot is fixed. Moreover kinematics of UR is derived is analytical form, so it can be used in trajectory optimization in order to stay away from table, however is considerably slows down the optimization. Even on sever with 40 cpus patter search computes it for hours. Moreover, added files for identification of the pendubot. 2020-02-05 04:55:09 +00:00			`b1 = [-0.7092040412,0.5230610431,0.1976180106,-0.2377492599,0.09662808559,-0.0442446606,0.04546091583,-0.05527008338,0.07999041891,-0.1954301078,0.02276381324,-0.0003037708343]`
			`b2 = [16.44144409,1.96646412,0.4413777885,0.01535646862,0.1699440808,-0.04517986656,0.08204914487,0.09802980971,0.1107566817,0.164257973,0.1687008776,-0.1158379341]`
			`b3 = [15.91827703,1.738289041,0.6396138544,0.4400174545,0.06841133754,0.1540512842,-0.01213731937,0.1288104914,0.01749713258,0.2106228112,-0.1025715439,-0.03232628298]`
			`b4 = [3.07591063,0.4116519318,0.1342122544,-0.02000429905,0.1916582385,0.1154067377,0.03839347039,0.01232415683,-0.1919967103,-0.01691073997,0.01163710601,0.04178807472]`
			`b5 = [32.38341148,4.112282002,1.463403865,0.4409561611,0.3426812758,0.1595795442,0.1184208908,0.05993487595,-0.09285686628,0.01674492771,0.09477511091,0.168557236]`
			`b6 = [32.04972222,3.852785925,1.284364462,-0.1618577222,0.456724459,0.2217872019,0.2525677551,0.1450619486,0.09508517903,0.04484496664,0.1612198891,-0.003833787606]`