18 lines
555 B
Mathematica
18 lines
555 B
Mathematica
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function regrssor = regressor_R1000_DVT(theta,dtheta,ddtheta)
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opt.robot_def = 'direct';
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opt.KM_method = 'SCREW';
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opt.Vel_method = 'Direct';
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opt.LD_method = 'Direct';
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opt.debug = false;
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opt.robotName = 'R1000_DVT';
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opt.reGenerate = false;
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opt.Isreal = true;
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opt.isJointTorqueSensor = false;
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opt.isSixAxisFTSensor = true;
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file=[];
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robot = get_robot_R1000_EVT(theta,zeros(size(dtheta)),zeros(size(ddtheta)),file,opt);
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robot = get_Kinematics_EVT(robot, opt);
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robot = get_velocity(robot, opt);
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robot = get_regressor(robot, opt);
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regrssor = robot.regressor.U;
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