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Dynamic-Calibration
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shamil 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 2020-03-26 14:03:47 +03:00
URe the last version of the project 2019-12-18 14:25:45 +03:00
autogen 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 2020-03-26 14:03:47 +03:00
basic_param the last version of the project 2019-12-18 14:25:45 +03:00
data_ur10 system matrices is generated in symbolic form as a function of standard rigid body parameters. Folder are slightly restructured 2020-03-06 15:55:03 +03:00
functions 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 2020-02-07 15:07:15 +03:00
planar2DOF new trajectories for indentification. Ellipsoid constraint on the center of mass for pendubot 2020-02-21 10:57:10 +03:00
screw_algthms the last version of the project 2019-12-18 14:25:45 +03:00
trajectory_optmzn system matrices is generated in symbolic form as a function of standard rigid body parameters. Folder are slightly restructured 2020-03-06 15:55:03 +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 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 2020-03-26 14:03:47 +03:00
main_ur.m 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 2020-03-26 14:03:47 +03:00
temp_ellipsoid_constraints.m new trajectories for indentification. Ellipsoid constraint on the center of mass for pendubot 2020-02-21 10:57:10 +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 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
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_exprmt_dsgn.m system matrices is generated in symbolic form as a function of standard rigid body parameters. Folder are slightly restructured 2020-03-06 15:55:03 +03:00
ur_idntfcn_drvgns.m 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 2020-03-26 14:03:47 +03:00
ur_idntfcn_frcn.m 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
ur_idntfcn_real.m 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 2020-03-26 14:03:47 +03:00
ur_knmtcs.m new trajectories for indentification. Ellipsoid constraint on the center of mass for pendubot 2020-02-21 10:57:10 +03:00
ur_regressors_lgr.m 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 2020-03-26 14:03:47 +03:00
ur_vldtn.m 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 2020-03-26 14:03:47 +03:00

README.md

dynamic_calibration