shamilmamedov / dynamic_calibration Goto Github PK
View Code? Open in Web Editor NEWIdentification of dynamic parameters of robotic systems
Identification of dynamic parameters of robotic systems
When I run the ur_idntfcn_real.m,the parameter pib_SDP is calculated by sol2 = optimize(cnstr, obj, sdpsettings('solver','sdpt3'));
.but the values of pib_SDP are NaN.
should I use the function function [obj,X,y,Z,info,runhist] = sdpt3(blk,At,C,b,OPTIONS,X0,y0,Z0)
?
Hello! When I run this code experiment_design.m
the following error appears.
>> experiment_design
Unrecognized function or variable 'a'.
Error in experiment_design (line 66)
x0 = reshape([a b], [6*2*traj_par.N, 1]);
dynamic_calibration/experiment_design.m
Line 66 in 174ccbd
Can you tell me which book or article do you reference about the screw dynamic thanks
I want to know in detail how to use your code, thank you
Hi,
I have a question regarding the sol.pi_s parameter in your code. Could you please clarify the order of elements in sol.pi_s? Specifically, what do the first 9 numbers represent, and why is each group comprised of 11 numbers?
Additionally, in your previous response, you mentioned that in the experiment_design.m file, there is a vector of full parameters called pi_full. However, I was unable to locate the pi_full parameter in that file. Could you please provide more details on where to find it?
If I understand correctly, sol.pi_s represents the full parameters, right?
Thank you!
Best regards
Thank you very much for your work. I have some questions about some details.
I can use ‘generate_rb_regressor(path_to_urdf);’ to generate regression matrix. But in formula
Hello! this is a great paper I have read and help me a lot, thank you a lot!
I have some questions now : may I ask, if I want to identify other UR series of robots(such as ur16e , ur3e), what special need to modify the URDF file.
in my job , I get the urdf file use the script rosrun xacro xacro ur16e.xcaro > ur16e.urdf
,
ur16e.xcaro come from this url : https://github.com/fmauch/universal_robot/tree/calibration_devel
when I try to do the same work on the ur16e robot , I find that the some drive gains are negative
I am not sure if my urdf file is configured correctly, so I want to ask for your help , do URDF files need special modification somewhere?
this is the ur10e.urdf file in your work:
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from ur10e_robot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="ur10e" xmlns:xacro="http://ros.org/wiki/xacro">
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="ros_control">
<!--robotNamespace>/</robotNamespace-->
<!--robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType-->
</plugin>
<!--
<plugin name="gazebo_ros_power_monitor_controller" filename="libgazebo_ros_power_monitor.so">
<alwaysOn>true</alwaysOn>
<updateRate>1.0</updateRate>
<timeout>5</timeout>
<powerStateTopic>power_state</powerStateTopic>
<powerStateRate>10.0</powerStateRate>
<fullChargeCapacity>87.78</fullChargeCapacity>
<dischargeRate>-474</dischargeRate>
<chargeRate>525</chargeRate>
<dischargeVoltage>15.52</dischargeVoltage>
<chargeVoltage>16.41</chargeVoltage>
</plugin>
-->
</gazebo>
<!--
Author: Kelsey Hawkins
Contributers: Jimmy Da Silva, Ajit Krisshna N L, Muhammad Asif Rana
-->
<link name="base_link">
<visual>
<geometry>
<mesh filename="package://ur_e_description/meshes/ur10e/visual/base.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_e_description/meshes/ur10e/collision/base.stl"/>
</geometry>
</collision>
<inertial>
<mass value="4.0"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.0061063308908" ixy="0.0" ixz="0.0" iyy="0.0061063308908" iyz="0.0" izz="0.01125"/>
</inertial>
</link>
<joint name="shoulder_pan_joint" type="revolute">
<parent link="base_link"/>
<child link="shoulder_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.181"/>
<axis xyz="0 0 1"/>
<limit effort="330.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="shoulder_link">
<visual>
<geometry>
<mesh filename="package://ur_e_description/meshes/ur10e/visual/shoulder.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_e_description/meshes/ur10e/collision/shoulder.stl"/>
</geometry>
</collision>
<inertial>
<mass value="7.778"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.0314743125769" ixy="0.0" ixz="0.0" iyy="0.0314743125769" iyz="0.0" izz="0.021875625"/>
</inertial>
</link>
<joint name="shoulder_lift_joint" type="revolute">
<parent link="shoulder_link"/>
<child link="upper_arm_link"/>
<origin rpy="0.0 1.57079632679 0.0" xyz="0.0 0.176 0.0"/>
<axis xyz="0 1 0"/>
<limit effort="330.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="upper_arm_link">
<visual>
<geometry>
<mesh filename="package://ur_e_description/meshes/ur10e/visual/upperarm.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_e_description/meshes/ur10e/collision/upperarm.stl"/>
</geometry>
</collision>
<inertial>
<mass value="12.93"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.3065"/>
<inertia ixx="0.42307374077" ixy="0.0" ixz="0.0" iyy="0.42307374077" iyz="0.0" izz="0.036365625"/>
</inertial>
</link>
<joint name="elbow_joint" type="revolute">
<parent link="upper_arm_link"/>
<child link="forearm_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.137 0.613"/>
<axis xyz="0 1 0"/>
<limit effort="150.0" lower="-3.14159265359" upper="3.14159265359" velocity="3.14"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="forearm_link">
<visual>
<geometry>
<mesh filename="package://ur_e_description/meshes/ur10e/visual/forearm.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_e_description/meshes/ur10e/collision/forearm.stl"/>
</geometry>
</collision>
<inertial>
<mass value="3.87"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.2855"/>
<inertia ixx="0.110590365764" ixy="0.0" ixz="0.0" iyy="0.110590365764" iyz="0.0" izz="0.010884375"/>
</inertial>
</link>
<joint name="wrist_1_joint" type="revolute">
<parent link="forearm_link"/>
<child link="wrist_1_link"/>
<origin rpy="0.0 1.57079632679 0.0" xyz="0.0 0.0 0.571"/>
<axis xyz="0 1 0"/>
<limit effort="54.0" lower="-6.28318530718" upper="6.28318530718" velocity="6.28"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="wrist_1_link">
<visual>
<geometry>
<mesh filename="package://ur_e_description/meshes/ur10e/visual/wrist1.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_e_description/meshes/ur10e/collision/wrist1.stl"/>
</geometry>
</collision>
<inertial>
<mass value="1.96"/>
<origin rpy="0 0 0" xyz="0.0 0.135 0.0"/>
<inertia ixx="0.0051082479567" ixy="0.0" ixz="0.0" iyy="0.0051082479567" iyz="0.0" izz="0.0055125"/>
</inertial>
</link>
<joint name="wrist_2_joint" type="revolute">
<parent link="wrist_1_link"/>
<child link="wrist_2_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.135 0.0"/>
<axis xyz="0 0 1"/>
<limit effort="54.0" lower="-6.28318530718" upper="6.28318530718" velocity="6.28"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="wrist_2_link">
<visual>
<geometry>
<mesh filename="package://ur_e_description/meshes/ur10e/visual/wrist2.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_e_description/meshes/ur10e/collision/wrist2.stl"/>
</geometry>
</collision>
<inertial>
<mass value="1.96"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.12"/>
<inertia ixx="0.0051082479567" ixy="0.0" ixz="0.0" iyy="0.0051082479567" iyz="0.0" izz="0.0055125"/>
</inertial>
</link>
<joint name="wrist_3_joint" type="revolute">
<parent link="wrist_2_link"/>
<child link="wrist_3_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.12"/>
<axis xyz="0 1 0"/>
<limit effort="54.0" lower="-6.28318530718" upper="6.28318530718" velocity="6.28"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="wrist_3_link">
<visual>
<geometry>
<mesh filename="package://ur_e_description/meshes/ur10e/visual/wrist3.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_e_description/meshes/ur10e/collision/wrist3.stl"/>
</geometry>
</collision>
<inertial>
<mass value="0.202"/>
<origin rpy="1.57079632679 0 0" xyz="0.0 0.092 0.0"/>
<inertia ixx="0.000144345775595" ixy="0.0" ixz="0.0" iyy="0.000144345775595" iyz="0.0" izz="0.000204525"/>
</inertial>
</link>
<joint name="ee_fixed_joint" type="fixed">
<parent link="wrist_3_link"/>
<child link="ee_link"/>
<origin rpy="0.0 0.0 1.57079632679" xyz="0.0 0.117 0.0"/>
</joint>
<link name="ee_link">
<collision>
<geometry>
<box size="0.01 0.01 0.01"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.01 0 0"/>
</collision>
</link>
<transmission name="shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="shoulder_pan_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="shoulder_pan_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="shoulder_lift_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="shoulder_lift_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="shoulder_lift_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="elbow_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="elbow_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="elbow_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="wrist_1_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="wrist_1_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="wrist_1_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="wrist_2_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="wrist_2_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="wrist_2_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="wrist_3_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="wrist_3_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="wrist_3_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<gazebo reference="shoulder_link">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="upper_arm_link">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="forearm_link">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="wrist_1_link">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="wrist_3_link">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="wrist_2_link">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="ee_link">
<selfCollide>true</selfCollide>
</gazebo>
<!-- ROS base_link to UR 'Base' Coordinates transform -->
<link name="base"/>
<joint name="base_link-base_fixed_joint" type="fixed">
<!-- NOTE: this rotation is only needed as long as base_link itself is
not corrected wrt the real robot (ie: rotated over 180
degrees)
-->
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="base"/>
</joint>
<!-- Frame coincident with all-zeros TCP on UR controller -->
<link name="tool0"/>
<joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
<origin rpy="-1.57079632679 0 0" xyz="0 0.117 0"/>
<parent link="wrist_3_link"/>
<child link="tool0"/>
</joint>
<link name="world"/>
<joint name="world_joint" type="fixed">
<parent link="world"/>
<child link="base_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
</joint>
</robot>
and this is I used in my work , I am not sure where I need to modify:
<?xml version="1.0" ?>
<robot name="ur10e" xmlns:xacro="http://ros.org/wiki/xacro">
<!--Link-->
<link name="base_link">
<visual>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ur_description/meshes/ur10e/visual/base.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ur_description/meshes/ur10e/collision/base.stl"/>
</geometry>
</collision>
<inertial>
<mass value="4.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0061063308908" ixy="0.0" ixz="0.0" iyy="0.0061063308908" iyz="0.0" izz="0.01125"/>
</inertial>
</link>
<link name="shoulder_link">
<visual>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ur_description/meshes/ur10e/visual/shoulder.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ur_description/meshes/ur10e/collision/shoulder.stl"/>
</geometry>
</collision>
<inertial>
<mass value="7.369"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0298192606556" ixy="0.0" ixz="0.0" iyy="0.0298192606556" iyz="0.0" izz="0.0207253125"/>
</inertial>
</link>
<link name="upper_arm_link">
<visual>
<origin rpy="1.57079632679 0 -1.57079632679" xyz="0 0 0.176"/>
<geometry>
<mesh filename="package://ur_description/meshes/ur16e/visual/upperarm.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<origin rpy="1.57079632679 0 -1.57079632679" xyz="0 0 0.176"/>
<geometry>
<mesh filename="package://ur_description/meshes/ur16e/collision/upperarm.stl"/>
</geometry>
</collision>
<inertial>
<mass value="10.45"/>
<origin rpy="0 1.57079632679 0" xyz="-0.2392 0.0 0.175"/>
<inertia ixx="0.213999856233" ixy="0.0" ixz="0.0" iyy="0.213999856233" iyz="0.0" izz="0.029390625"/>
</inertial>
</link>
<link name="forearm_link">
<visual>
<origin rpy="1.57079632679 0 -1.57079632679" xyz="0 0 0.04"/>
<geometry>
<mesh filename="package://ur_description/meshes/ur16e/visual/forearm.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<origin rpy="1.57079632679 0 -1.57079632679" xyz="0 0 0.04"/>
<geometry>
<mesh filename="package://ur_description/meshes/ur16e/collision/forearm.stl"/>
</geometry>
</collision>
<inertial>
<mass value="4.321"/>
<origin rpy="0 1.57079632679 0" xyz="-0.18 0.0 0.04"/>
<inertia ixx="0.0527431851527" ixy="0.0" ixz="0.0" iyy="0.0527431851527" iyz="0.0" izz="0.0121528125"/>
</inertial>
</link>
<link name="wrist_1_link">
<visual>
<!-- TODO: Move this to a parameter -->
<origin rpy="1.57079632679 0 0" xyz="0 0 -0.135"/>
<geometry>
<mesh filename="package://ur_description/meshes/ur10e/visual/wrist1.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 -0.135"/>
<geometry>
<mesh filename="package://ur_description/meshes/ur10e/collision/wrist1.stl"/>
</geometry>
</collision>
<inertial>
<mass value="2.18"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.00568162272735" ixy="0.0" ixz="0.0" iyy="0.00568162272735" iyz="0.0" izz="0.00613125"/>
</inertial>
</link>
<link name="wrist_2_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 -0.12"/>
<geometry>
<mesh filename="package://ur_description/meshes/ur10e/visual/wrist2.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.12"/>
<geometry>
<mesh filename="package://ur_description/meshes/ur10e/collision/wrist2.stl"/>
</geometry>
</collision>
<inertial>
<mass value="2.033"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0052985041306" ixy="0.0" ixz="0.0" iyy="0.0052985041306" iyz="0.0" izz="0.0057178125"/>
</inertial>
</link>
<link name="wrist_3_link">
<visual>
<origin rpy="1.57079632679 0 0" xyz="0 0 -0.1168"/>
<geometry>
<mesh filename="package://ur_description/meshes/ur10e/visual/wrist3.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 -0.1168"/>
<geometry>
<mesh filename="package://ur_description/meshes/ur10e/collision/wrist3.stl"/>
</geometry>
</collision>
<inertial>
<mass value="0.907"/>
<origin rpy="0 0 0" xyz="0.0 0.0 -0.025"/>
<inertia ixx="0.000648126824083" ixy="0.0" ixz="0.0" iyy="0.000648126824083" iyz="0.0" izz="0.0009183375"/>
</inertial>
</link>
<!--考虑 删除 或 修改-->
<link name="ee_link">
<collision>
<geometry>
<box size="0.01 0.01 0.01"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.01 0 0"/>
</collision>
</link>
<joint name="shoulder_pan_joint" type="revolute">
<parent link="base_link"/>
<child link="shoulder_link"/>
<origin rpy="0 0 0" xyz="0 0 0.1807"/>
<axis xyz="0 0 1"/>
<limit effort="330.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<joint name="shoulder_lift_joint" type="revolute">
<parent link="shoulder_link"/>
<child link="upper_arm_link"/>
<origin rpy="1.570796327 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="330.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<joint name="elbow_joint" type="revolute">
<parent link="upper_arm_link"/>
<child link="forearm_link"/>
<origin rpy="0 0 0" xyz="-0.4784 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="150.0" lower="-3.14159265359" upper="3.14159265359" velocity="3.14"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<joint name="wrist_1_joint" type="revolute">
<parent link="forearm_link"/>
<child link="wrist_1_link"/>
<origin rpy="0 0 0" xyz="-0.36 0 0.17415"/>
<axis xyz="0 0 1"/>
<limit effort="56.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14159265359"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<joint name="wrist_2_joint" type="revolute">
<parent link="wrist_1_link"/>
<child link="wrist_2_link"/>
<origin rpy="1.570796327 0 0" xyz="0 -0.11985 -2.45816459076e-11"/>
<axis xyz="0 0 1"/>
<limit effort="56.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14159265359"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<joint name="wrist_3_joint" type="revolute">
<parent link="wrist_2_link"/>
<child link="wrist_3_link"/>
<origin rpy="1.57079632659 3.14159265359 3.14159265359" xyz="0 0.11655 -2.39048045935e-11"/>
<axis xyz="0 0 1"/>
<limit effort="56.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14159265359"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!--考虑删除 末端负载-->
<joint name="ee_fixed_joint" type="fixed">
<parent link="wrist_3_link"/>
<child link="ee_link"/>
<!-- <origin rpy="0.0 0.0 1.57079632679" xyz="0.0 0.117 0.0"/> -->
<origin rpy="0.0 0.0 1.57079632679" xyz="0.0 0.0 0.1371"/>
</joint>
<!-- ROS base_link to UR 'Base' Coordinates transform -->
<link name="base"/>
<joint name="base_link-base_fixed_joint" type="fixed">
<!-- NOTE: this rotation is only needed as long as base_link itself is
not corrected wrt the real robot (ie: rotated over 180
degrees)
-->
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="base"/>
</joint>
<!-- Frame coincident with all-zeros TCP on UR controller -->
<link name="tool0"/>
<joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
<!-- <origin rpy="-1.57079632679 0 0" xyz="0 0.117 0"/> -->
<origin rpy="-1.57079632679 0 0" xyz="0.0 0.0 0.1371"/>
<parent link="wrist_3_link"/>
<child link="tool0"/>
</joint>
<link name="world"/>
<joint name="world_joint" type="fixed">
<parent link="world"/>
<child link="base_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
</joint>
<transmission name="shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="shoulder_pan_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="shoulder_pan_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="shoulder_lift_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="shoulder_lift_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="shoulder_lift_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="elbow_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="elbow_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="elbow_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="wrist_1_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="wrist_1_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="wrist_1_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="wrist_2_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="wrist_2_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="wrist_2_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="wrist_3_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="wrist_3_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="wrist_3_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="ros_control">
</plugin>
</gazebo>
<gazebo reference="shoulder_link">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="upper_arm_link">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="forearm_link">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="wrist_1_link">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="wrist_3_link">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="wrist_2_link">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="ee_link">
<selfCollide>true</selfCollide>
</gazebo>
</robot>
which matlab version and robot tool box version do you use
Hello! When I run the function main.m, the following error occurred. Could you please tell me how to solve it? Looking forward to your reply.
错误使用 - (line 44)
Adding NaN to an SDPVAR makes no sense.
出错 estimate_dynamic_params>physicallyConsistentEstimation (line 157)
obj = norm(Tau - Wb*[pi_b; pi_frctn]);
出错 estimate_dynamic_params (line 49)
[sol.pi_b, sol.pi_fr, sol.pi_s] =
physicallyConsistentEstimation(Tau, Wb, baseQR);
出错 main (line 40)
sol = estimate_dynamic_params(path_to_est_data, idxs, ...
in this code , just estimate the base parameter is the linear combination of the independent parameters, but we need the full parameter, so I want to know how to convert from base parameters to full parameters
Hello! Is the file ‘standard_regressor_UR10E’ automatically generated from the toolbox? What would it have looked like in the initial state?Thanks!
Thanks for your work, it helps me a lot. Now, I have modified the code and hope it can be applied to any degree of freedom manipulator. First, I tried to apply it in a 7DOF manipulator, whose urdf file was generated by myself. I am currently facing two issues and would like to seek your advice
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