2 Commits

Author	SHA1	Message	Date
Shamil Mamedov	fe3cc01102	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.	2020-02-05 07:55:09 +03:00
Shamil Mamedov	3f6f7a608b	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	2020-01-16 10:48:37 +03:00