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Dynamic-Calibration
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Shamil Mamedov 141b563911 added constraint on masses of the links based on the URDF 2020-01-27 15:44:26 +03:00
URe the last version of the project 2019-12-18 14:25:45 +03:00
autogen added constraint on masses of the links based on the URDF 2020-01-27 15:44:26 +03:00
basic_param the last version of the project 2019-12-18 14:25:45 +03:00
data_ur10 added constraint on masses of the links based on the URDF 2020-01-27 15:44:26 +03:00
functions added constraint on masses of the links based on the URDF 2020-01-27 15:44:26 +03:00
planar2DOF the last version of the project 2019-12-18 14:25:45 +03:00
screw_algthms the last version of the project 2019-12-18 14:25:45 +03:00
trajectory_optmzn 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 2019-12-23 08:55:18 +03:00
utils the last version of the project 2019-12-18 14:25:45 +03:00
README.md first commit 2019-12-18 14:13:02 +03:00
baseQR.mat 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. 2019-12-19 13:31:18 +03:00
driveGains.mat 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
lugreFrictionModel.m added constraint on masses of the links based on the URDF 2020-01-27 15:44:26 +03:00
main_ur.m added constraint on masses of the links based on the URDF 2020-01-27 15:44:26 +03:00
ur10_idntfcn_smltn.m 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
ur_base_params_QRlgr.m 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
ur_base_params_QRscrw.m the last version of the project 2019-12-18 14:25:45 +03:00
ur_base_params_sym.m 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 2019-12-19 09:48:18 +03:00
ur_collision.m added constraint on masses of the links based on the URDF 2020-01-27 15:44:26 +03:00
ur_exprmt_dsgn.m 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. 2019-12-26 12:09:57 +03:00
ur_idntfcn_drvgns.m added constraint on masses of the links based on the URDF 2020-01-27 15:44:26 +03:00
ur_idntfcn_frcn.m added constraint on masses of the links based on the URDF 2020-01-27 15:44:26 +03:00
ur_idntfcn_real.m added constraint on masses of the links based on the URDF 2020-01-27 15:44:26 +03:00
ur_regressors_lgr.m added constraint on masses of the links based on the URDF 2020-01-27 15:44:26 +03:00
ur_vldtn.m added constraint on masses of the links based on the URDF 2020-01-27 15:44:26 +03:00

README.md

dynamic_calibration