22 lines
546 B
Matlab
22 lines
546 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 = 'MDH';
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opt.Vel_method = 'Direct';
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opt.LD_method = 'Direct';
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opt.debug = true;
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opt.robotName = 'R1000';
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opt.Isreal = true;
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robot = get_robot_R1000(file,opt);
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% robot.theta = [1,1,0];
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robot = get_Kinematics(robot, opt);
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%TODO verify kinematics via robotics toolbox or other software result
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R1000_Dynamics;
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% opt.Isreal = false;
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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
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% robot = get_baseParams(robot, opt); |