 Rui
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512ad8464b
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Merge branch 'bugFix/ols-pc-ols' into 'master'
bugfix code can be run
See merge request robotics/dynamic-calibration!1
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2024-01-07 03:22:22 +00:00 |
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cosmic_power
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94079a8a26
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bugfix code can be run
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2024-01-07 11:20:29 +08:00 |
shamil
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11af40e7de
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removed small bug in experiment design script
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2021-11-16 15:29:33 +01:00 |
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shamil
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174ccbd315
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refactored code and changed readme file
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2021-10-20 11:21:43 +02:00 |
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shamil
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aa3982fcf1
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changed readme and added required external software
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2021-10-19 10:36:35 +02:00 |
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shamil
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098aed50f5
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modifying readme 3
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2021-04-10 12:46:14 +03:00 |
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shamil
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11280b9783
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modifying readme 2
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2021-04-10 11:11:18 +03:00 |
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shamil
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75b04d4203
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modifying readme
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2021-04-10 10:32:51 +03:00 |
Shamil Mamedov
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82674baa75
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Update README.md
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2020-03-26 14:08:44 +03:00 |
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shamil
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92596a3126
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optimal code was generated for system matrices, then they were compiled into C code to be used in observer design. Some conclusions about drive gains and identification trajectories were made
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2020-03-26 14:03:47 +03:00 |
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shamil
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ded626374e
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system matrices is generated in symbolic form as a function of standard rigid body parameters. Folder are slightly restructured
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2020-03-06 15:55:03 +03:00 |
Shamil Mamedov
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3afa267a6d
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new trajectories for indentification. Ellipsoid constraint on the center of mass for pendubot
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2020-02-21 10:57:10 +03:00 |
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Shamil Mamedov
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40df589ea7
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indeitification of UR is changed and writeen in terms of functions in order to ease comparison of different data and drive gains. Pendubot indentification is changed to include validation with parameters from CAD
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2020-02-07 15:07:15 +03:00 |
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Shamil Mamedov
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fe3cc01102
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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.
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2020-02-05 07:55:09 +03:00 |
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Shamil Mamedov
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141b563911
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added constraint on masses of the links based on the URDF
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2020-01-27 15:44:26 +03:00 |
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Shamil Mamedov
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3f6f7a608b
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identifiation of nonlinear friction model to better fit model. In indentification of inertial parameters physical consistency is added. Identification of drive paramteres is moved to seperate file
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2020-01-16 10:48:37 +03:00 |
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Shamil Mamedov
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8307ef7d99
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identification of drive parameters fails even in simluation with some noise. We thoughts that weighted least sqaures can help, but for now it doesn't. It seems that we don't do it right.
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2019-12-26 12:09:57 +03:00 |
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Shamil Mamedov
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6065d44dbd
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New trajectory is found. The difference from previous ones is the fact that now the condition number of the whole whole regressor (with frinction and motor dynamics) is taken into accound
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2019-12-23 08:55:18 +03:00 |
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Shamil Mamedov
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a5240b3574
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Objectve function as well as constraint fucntion for trajectory optimization slightly changed. Now the structure of the robot is not an input argument. Moreover, objective function can work with QR decomposition based base parameters.
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2019-12-19 13:31:18 +03:00 |
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Shamil Mamedov
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7e7f3512c4
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experiment design is changed as to have two options for optimization algorithms - pattern search and genetic algorithm. Generation of full regressor and well as load regressor are put into seperate file
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2019-12-19 09:48:18 +03:00 |
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Shamil Mamedov
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856c868a51
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qr decomposition is extended to the case when motor dynamics is involved
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2019-12-18 15:55:50 +03:00 |
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Shamil Mamedov
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b382f14bc4
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the last version of the project
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2019-12-18 14:25:45 +03:00 |
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Shamil Mamedov
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17dd2dc32c
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first commit
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2019-12-18 14:13:02 +03:00 |