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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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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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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b382f14bc4
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the last version of the project
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2019-12-18 14:25:45 +03:00 |