21 lines
713 B
Mathematica
21 lines
713 B
Mathematica
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function base_regrssor = base_6AxisFT_regressor_R1000_DVT(theta,dtheta,ddtheta,baseQR)
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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(theta,dtheta,ddtheta,file,opt);
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robot = get_Kinematics(robot, opt);
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robot = get_velocity(robot, opt);
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robot = get_regressor(robot, opt);
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% get base params
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robot.baseQR = baseQR;
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robot.baseQR.regressor = robot.regressor.U*robot.baseQR.permutationMatrix(:,1:robot.baseQR.numberOfBaseParameters);
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base_regrssor = robot.baseQR.regressor;
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