shamil 174ccbd315 refactored code and changed readme file		2021-10-20 11:21:43 +02:00
..
coeffs4_UR	new trajectories for indentification. Ellipsoid constraint on the center of mass for pendubot	2020-02-21 10:57:10 +03:00
optimal_trjctrs	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
fourier_series_traj.m	modifying readme 2	2021-04-10 11:11:18 +03:00
getPolCoeffs.m	the last version of the project	2019-12-18 14:25:45 +03:00
mixed_traj.m	modifying readme 2	2021-04-10 11:11:18 +03:00
traj_cnstr.m	modifying readme 3	2021-04-10 12:46:14 +03:00
traj_cnstr_fsblty.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
traj_cost_lgr.m	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
writeTrajectoryCoefficientsIntoFile.m	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