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