Which book or paper does your code refer to？ about dynamic_calibration

[shamilmamedov]

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?

[shamilmamedov]

I see. Can you measure motor torques or only currents?

[shamilmamedov]

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.

[QNjeason]

Hello!
How to generate the m file of Autogen folder?
Can you give me some instructions?
Thank you.

[shamilmamedov]

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.

[QNjeason]

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.

[shamilmamedov]

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

[QNjeason]

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

[gaodada555]

Hi, is it good for pratical use? do you have test in a real robot? than you!

[gaodada555]

Can you tell me the email address for further contact？ thanks.

[shamilmamedov]

Hi, yes the code has been used for offline identification of UR10E.

[shamilmamedov]

if you have specific questions, ask them here, maybe there are other people interested in the same questions

[2743701314]

How do I generate this value.m

[shamilmamedov]

How do I generate this value.m

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

[2743701314]

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?

[shamilmamedov]

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

[2743701314]

Thank you very much

[wzzz9]

What method is the dynamics based on?Newton - Euler or Lagrange?

[2743701314]

What method is the dynamics based on?Newton - Euler or Lagrange?

Lagrange