Comments (19)
It depends on your robot. First of all, you should have URDF of your robot. Then you run ur_regressors_lgr.m to obtain regressor matrix as well as dynamics matrices in symbolic form with subsequent generation of functions.
If you need to obtain base parameters (minimal number of parameters) then you run ur_base_params_QRlgr.m.
If you need to do trajectory planning for identification then you run ur_exprmt_dsgn.m.
For processing the data from the robot you can use filterData.m.
What exactly for do you want to use this code?
from dynamic_calibration.
I see. Can you measure motor torques or only currents?
from dynamic_calibration.
It really complicates the identification. Try to get the coefficient between the current and torque (tau = K*i).
If it is impossible, then you need to do extra experiment with a payload. You need to know at least one dynamic parameter of the load, for example mass. Here is a paper you can use
Gautier, Maxime, and Sébastien Briot. "Global identification of joint drive gains and dynamic parameters of robots." Journal of Dynamic Systems, Measurement, and Control 136.5 (2014).
For identification good references are Handbook of robotics and a recent paper on the topic
Sousa, Cristóvão D., and Rui Cortesao. "Physical feasibility of robot base inertial parameter identification: A linear matrix inequality approach." The International Journal of Robotics Research 33.6 (2014): 931-944.
from dynamic_calibration.
Hello!
How to generate the m file of Autogen folder?
Can you give me some instructions?
Thank you.
from dynamic_calibration.
Hi.
The content of the Autogen folder is generated from ur_regressors_lgr.m which uses parsed URDF file of the robot. Just go through the file.
from dynamic_calibration.
Hello, Mr. Shami
I encountered the following problems when running the simulation, please guide me, thank you.
When I run ur_idntfcn_frcn.m code, I have the following errors.
When I run ur_vldtn.m code, I have the following errors.
When I run ur_idntfcn_real.m code, I have the following errors.
When I run ur_idntfcn_drvgns.m code, I have the following errors.
from dynamic_calibration.
ur_idntfcn_frcn is used to perform identification of nonlinear friction model of each joint, at first you don't need it, because usually linear friction model works fine
before validation you need to run ur_idntfcn_real.m to identify parameters
the last screenshot looks weird, it shouldn't happen. If you do everything for your own model, then after deriving regressor matrix you need to perform parameter reduction (QR decomposition) ur_base_params_QRlgr.m. Then everything should work fine
from dynamic_calibration.
I download these codes from your GitHub again, but I still can't get the solution when running on MATLAB.You can try it on your computer to see if it fails. motorDynamicsIncluded=1.If motordynamicsincluded = 0, ur cannot run normally_ idntfcn_ drvgns.m
from dynamic_calibration.
Hi, is it good for pratical use? do you have test in a real robot? than you!
from dynamic_calibration.
Can you tell me the email address for further contact? thanks.
from dynamic_calibration.
Hi, yes the code has been used for offline identification of UR10E.
from dynamic_calibration.
if you have specific questions, ask them here, maybe there are other people interested in the same questions
from dynamic_calibration.
How do I generate this value.m
from dynamic_calibration.
You don't need to generate anything. The function is YALMIP overload, so if you have YALMIP installed value function will give you the numerical values of the optimization variable
from dynamic_calibration.
Thanks to the guidance, I've solved that problem.
Now I have a new question to ask you. Which paper can you find this linear friction-free model in?
from dynamic_calibration.
Thanks to the guidance, I've solved that problem.
Now I have a new question to ask you. Which paper can you find this linear friction-free model in?
You are welcome! This particular friction model was taken from this paper
from dynamic_calibration.
Thank you very much
from dynamic_calibration.
What method is the dynamics based on?Newton - Euler or Lagrange?
from dynamic_calibration.
What method is the dynamics based on?Newton - Euler or Lagrange?
Lagrange
from dynamic_calibration.
Related Issues (15)
- which matlab version and robot tool box version do you use HOT 2
- What is the reason for the jump in the predicted values of the fifth axis and the sixth axis? HOT 4
- How to convert from base parameter to full parameter HOT 1
- Which reference coordinate system is the inertia tensor I in "tau = Ypi"? Centroid coordinate or link coordinate? HOT 1
- A question about "generate_rb_dynamics.m" HOT 1
- ttributeError: 'SLSQP' object has no attribute 'h_start' HOT 2
- Questions about sol.pi_s Order and pi_full Parameter
- Can you tell me which book or article do you reference about the screw dynamic HOT 2
- How to use the solver-sdpt3 HOT 1
- Could you tell me which book or article do you reference about the physical feasibility? HOT 1
- Error in experiment_design.m HOT 2
- When I run the function main.m, the following error occurred HOT 4
- what special need to modify the URDF file when identify other robots HOT 4
- What was required in the original document ‘standard_regressor_UR10E’? HOT 2
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