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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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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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 |