17 lines
514 B
Mathematica
17 lines
514 B
Mathematica
function base_regrssor = base_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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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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robot = get_baseParams(robot, opt);
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base_regrssor = robot.baseQR.regressor; |