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YanjunLIU-ac / Dynamic_Parameter_Identification_for_Rokae_xMate

Dynamic parameter identification code for rokae xmate manipulator based on MATLAB, including excitation trajectory optimization, LSM method, and N-E formulation of dynamic equation.
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Is the code common to other robots? #2

Open xxel61 opened 1 year ago

xxel61 commented 1 year ago

Thanks for sharing. The code is excellent and has inspired me a lot！ I want to do some work on robot arm parameter identification. If I want to design the excitation trajectory of other robotic arms and identify it, do I only need to modify the robot model? in .\utils\robot_model.m or other places are also modified

YanjunLIU-ac commented 1 year ago

Sorry for the late reply, the optimization of excitation trajectory depends on the minimum regressor (see line 53 in /excitation/optimize_traj_object_fun_syms.m or line 27 in /excitation/optimize_traj_object_fun_math.m) in this method. Thus, prior to running the excitation trajectory optimization script, it is necessary to run the scripts in /dynamics in order to obtain the minimum regressor matrix.