IRDYn/Identification_main.m

close all;clc;clear
file = [];
opt.robot_def = 'direct';
opt.KM_method = 'SCREW';
opt.Vel_method = 'Direct';
opt.LD_method = 'Direct';
opt.debug = false;
opt.robotName = 'R1000_DVT';
opt.reGenerate = false;
opt.Isreal = true;
opt.isJointTorqueSensor = true;
opt.isSixAxisFTSensor = false;

theta = zeros(9,1);
dtheta = zeros(9,1);
ddtheta = zeros(9,1);

get_robot_func = sprintf('get_robot_%s',opt.robotName);
robot = feval(get_robot_func,theta,dtheta,ddtheta,file,opt);
get_Kinematics_func = sprintf('get_Kinematics_%s',opt.robotName);
robot = feval(get_Kinematics_func,robot,opt);

% Jaco=JacobianSpace(robot.slist(:,1:7),theta(1:7));
% R1000_Dynamics_num;
% test_SixAxisFT;
% R1000_Dynamics;
robot = get_velocity(robot, opt);
robot = get_regressor(robot,opt);
% % symbol matched
% % verify_regressor_R1000;
robot = get_baseParams(robot, opt);
% robot = estimate_dyn(robot,opt);
% robot = estimate_dyn_form_data(robot,opt);
robot = estimate_dyn_MLS(robot,opt);