32 lines
887 B
Matlab
32 lines
887 B
Matlab
close all;clc;clear
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file = [];
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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 = true;
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opt.isSixAxisFTSensor = false;
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theta = zeros(9,1);
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dtheta = zeros(9,1);
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ddtheta = zeros(9,1);
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get_robot_func = sprintf('get_robot_%s',opt.robotName);
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robot = feval(get_robot_func,theta,dtheta,ddtheta,file,opt);
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get_Kinematics_func = sprintf('get_Kinematics_%s',opt.robotName);
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robot = feval(get_Kinematics_func,robot,opt);
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% R1000_Dynamics_num;
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% R1000_Dynamics;
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robot = get_velocity(robot, opt);
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robot = get_regressor(robot,opt);
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% symbol matched
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% verify_regressor_R1000;
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robot = get_baseParams(robot, opt);
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% robot = estimate_dyn(robot,opt);
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% robot = estimate_dyn_form_data(robot,opt);
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robot = estimate_dyn_MLS(robot,opt); |