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  • 512ad8464b Merge branch 'bugFix/ols-pc-ols' into 'master' master Rui 2024-01-07 03:22:22 +0000
  • 94079a8a26 bugfix code can be run bugFix/ols-pc-ols cosmic_power 2024-01-07 11:20:29 +0800
  • 11af40e7de removed small bug in experiment design script shamil 2021-11-16 15:29:33 +0100
  • 174ccbd315 refactored code and changed readme file shamil 2021-10-20 11:21:43 +0200
  • aa3982fcf1 changed readme and added required external software shamil 2021-10-19 10:36:35 +0200
  • 098aed50f5 modifying readme 3 shamil 2021-04-10 12:46:14 +0300
  • 11280b9783 modifying readme 2 shamil 2021-04-10 11:11:18 +0300
  • 75b04d4203 modifying readme shamil 2021-04-10 10:32:51 +0300
  • 82674baa75
         Update README.md Shamil Mamedov 2020-03-26 14:08:44 +0300
  • 92596a3126 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 shamil 2020-03-26 14:03:47 +0300
  • ded626374e system matrices is generated in symbolic form as a function of standard rigid body parameters. Folder are slightly restructured shamil 2020-03-06 15:55:03 +0300
  • 3afa267a6d new trajectories for indentification. Ellipsoid constraint on the center of mass for pendubot Shamil Mamedov 2020-02-21 10:57:10 +0300
  • 40df589ea7 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 Shamil Mamedov 2020-02-07 15:07:15 +0300
  • 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. Shamil Mamedov 2020-02-05 07:55:09 +0300
  • 141b563911 added constraint on masses of the links based on the URDF Shamil Mamedov 2020-01-27 15:44:26 +0300
  • 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 Shamil Mamedov 2020-01-16 10:48:37 +0300
  • 8307ef7d99 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. Shamil Mamedov 2019-12-26 12:09:57 +0300
  • 6065d44dbd 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 Shamil Mamedov 2019-12-23 08:55:18 +0300
  • a5240b3574 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. Shamil Mamedov 2019-12-19 13:31:18 +0300
  • 7e7f3512c4 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 Shamil Mamedov 2019-12-19 09:48:18 +0300
  • 856c868a51 qr decomposition is extended to the case when motor dynamics is involved Shamil Mamedov 2019-12-18 15:55:50 +0300
  • b382f14bc4 the last version of the project Shamil Mamedov 2019-12-18 14:25:45 +0300
  • 17dd2dc32c first commit Shamil Mamedov 2019-12-18 14:13:02 +0300