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Dynamic-Calibration
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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
URe the last version of the project 2019-12-18 14:25:45 +03:00
autogen 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
basic_param the last version of the project 2019-12-18 14:25:45 +03:00
data_ur10 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
functions 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
planar2DOF 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
screw_algthms the last version of the project 2019-12-18 14:25:45 +03:00
trajectory_optmzn 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
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 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
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 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_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 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_drvgns.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_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 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_knmtcs.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_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 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

README.md

dynamic_calibration