IRDYn/Identification_main.m

close all;clc;clear
file = [];
opt.robot_def = 'direct';
opt.KM_method = 'MDH';
opt.Vel_method = 'Direct';
opt.LD_method = 'Direct';
opt.debug = true;
opt.robotName = 'R1000';

opt.Isreal = true;
robot = get_robot_R1000(file,opt);
% robot.theta = [1,1,0];
robot = get_Kinematics(robot, opt);
%TODO verify kinematics via robotics toolbox or other software result
com_pos_R1(:,1)=[9.7435250e+01  8.3517655e-01  1.2246547e+02]'*10^-3;
com_pos_R2(:,1)=[-1.0040117e+02 -9.4164823e+01 -3.4522260e+01]'*10^-3;
com_pos_R1(:,2)=[3.7345395e+02 -5.5328829e+01 -4.4313141e-02]'*10^-3;
com_pos_R2(:,2)=[ -1.2654643e+02  9.6371171e+01 -4.4094190e-02]'*10^-3;
com_pos_R1(:,3)=[1.8811711e+02 -7.9651429e+00 -4.9225523e-04 ]'*10^-3;
com_pos_R2(:,3)=[-2.6188289e+02  2.8348571e+00 -4.9225523e-04 ]'*10^-3;
com_pos_R1(:,4)=[ 5.4048685e+01  5.8463901e+01 -5.0915631e+00 ]'*10^-3;
com_pos_R2(:,4)=[ -6.5951315e+01 -9.0360991e+00  5.2908437e+01]'*10^-3;
com_pos_R1(:,5)=[1.3028528e+02  4.8953539e-02  4.6198421e+01]'*10^-3;
com_pos_R2(:,5)=[-9.5814715e+01  4.8953539e-02 -1.2301579e+01 ]'*10^-3;
com_pos_R1(:,6)=[4.9059639e+01  5.9928547e-02 -2.8858572e+01]'*10^-3;
com_pos_R2(:,6)=[-4.7403608e+00  5.9928547e-02  6.2741428e+01]'*10^-3;
com_pos_R1(:,7)=[2.3210318e-02 -9.5031144e+00 -1.0242124e+02]'*10^-3;
com_pos_R2(:,7)=[2.3210318e-02 -9.5031144e+00  2.0257876e+02 ]'*10^-3;
com_pos_R1(:,8)=[-3.6571935e+01 -3.6282658e-01 -4.7124267e+01]'*10^-3;
com_pos_R2(:,8)=[2.2355855e+02 -3.6281380e-01  1.4875409e+01]'*10^-3; % don't use
com_pos_R1(:,9)=[-9.6776846e-02  1.4179201e-01 -3.4242667e+01]'*10^-3;

R1000_Dynamics_num;
% opt.Isreal = false;
% robot = get_velocity(robot, opt);
% robot = get_regressor(robot,opt);
% symbol matched
% verify_regressor
% robot = get_baseParams(robot, opt);