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changed readme and added required external software

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README.md
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# Dynamic calibration (dynamic parameter indentification) for rigid body manipulator # Dynamic calibration (dynamic parameter indentification) for rigid body manipulator
The code was developed in the framework of the human-robot interaction project at [Innopolis University](https://innopolis.university/en/). One of the outputs of the project was a paper -- [Practical Aspects of Model-Based Collision Detection](https://www.frontiersin.org/articles/10.3389/frobt.2020.571574/full), where we provide some review of the recent developments in the field of dynamic calibration, outline the steps required for dynamic parameter identification and provide many useful references. If you have questions from theoretical perspective, please check the paper first. If find paper and code useful, consider citing it in your own papers. The code was developed in the framework of the human-robot interaction project at [Innopolis University](https://innopolis.university/en/). One of the outputs of the project was a paper -- [Practical Aspects of Model-Based Collision Detection](https://www.frontiersin.org/articles/10.3389/frobt.2020.571574/full), where we provide some review of the recent developments in the field of dynamic calibration, outline the steps required for dynamic parameter identification and provide many useful references. If you have questions from theoretical perspective, please check the paper first. If find paper and code useful, consider citing it in your own papers.
## Required external software
1. [YALMIP](https://yalmip.github.io/) for formulating semidefinite programs
2. [SDPT3](https://blog.nus.edu.sg/mattohkc/softwares/sdpt3/) for solving semidefinite programs
The parameter identification prcedure can be divided into several steps: The parameter identification prcedure can be divided into several steps:
## Finding regressor ## Finding regressor
Right now, there are two ways to find regressor matrix: Right now, there are two ways to find regressor matrix:

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drvGains - коэффициенты передачи двигателей
pi_drvs - моменты инерции двигателей (полная матрица инерции = матрица инерции твердых тел + диагональная матрица моментов инерций двигателей)
pi_frcn - параметры трения
pi_rgd - динамические параметры манипулятора
drvGains = [10.0000 10.6956 8.4566 9.0029 9.4800 10.1232]
pi_drvs = [0.0000 3.7434 0.0000 0.0708 0.2342 0.4365]
pi_frcn = [21.2560035178975 12.5483919746119 0.196127531079290 20.2209078488147 13.2656448586672 -0.753542068699768 10.3777424977617 4.99431320112810 0.197915175643975 3.57505079619634 1.99785409182665 0.0548203669462869 2.49090134851989 2.69046065664555 -0.00961090201631413 3.02555317117942 2.29785428883088 0.0425285989157143]
pi_rgd = [16.0176611535738 -2.00482708189127e-24 -4.24485395869232e-22 16.0176611535738 -4.24485395867403e-22 9.43727306189725e-07 -6.53436127827057e-22 -6.53436127823637e-22 3.50505913361878e-15 4.82735807687454 3.93252112150267 0.852872700795216 0.151907227487544 3.72055571331379 -0.594537596685827 1.90315714825294 0.0499515018125203 -0.275933516211432 3.26326766895734 7.92588780427583 2.22453155994020 -0.536563782355030 -0.176606571084730 1.38898515931147 -0.216688686682940 1.38868367868425 0.0239478724955783 0.242903204545637 0.893878743865011 2.48085522792275 1.02973744452979 0.232810369975328 -0.0122592945631829 0.0751257822869478 0.0743540253355278 1.06527257146170 -0.000582815216240731 -0.253394468238071 0.191762550420584 2.15599664972997 0.0286148910140748 -0.0338326593926075 -0.0256613339921903 0.108051336487696 -0.0138455726459147 0.111089405220237 0.00787524242077676 0.0934251412682158 0.114658605760645 2.15599365882885 0.0283844456390803 -0.00207558738053028 -0.0139815283589113 0.0353598234283524 -0.00400838436166993 0.00814485837826589 0.00266611685970840 -0.00108021254518030 -0.0158005587487420 0.222170406447329]