kiwiwan / ur10_dyn_ident

ur10 dynamic param identify in vrep simulator.Using sousa 2014 wam7_dyn_ident code.

Experimental Identification of Physically Feasible Dynamic Parameters of ur10 Robot using LMI–SDP Techniques

Experimental code and data associated with the paper:

Cristóvão D. Sousa and Rui Cortesão, "Physical feasibility of robot base inertial parameter identification: A linear matrix inequality approach," The International Journal of Robotics Research, vol. 33, no. 6, pp. 931–944, May. 2014, doi: 10.1177/0278364913514870

Postprint availabe from ResearchGate

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Authors

• Cristóvão D. Sousa, [e-mail]
• Rui Cortesão, [e-mail]

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Research Notebook

The research is done in Python within an IPython notebook (the WAM7 Dynamic Parameter Identification.ipynb file). Data is in data folder. Additional Python support code is in support_funcs folder.

The file WAM7 Dynamic Parameter Identification.html is a preview of the notebook. It can be seen online at:

Experimental WAM Robot Dynamic Identification with LMI

How to run the code

• clone the git repository (it contains code and data) from https://github.com/cdsousa/wam7_dyn_ident
• open the WAM7 Dynamic Parameter Identification.ipynb notebook with IPython
• edit and run the code

Dependencies:

• Python
• IPython
• SymPy
• Numpy
• SciPy
• SymPyBotics
• PyLMI-SDP

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Questions & Feedback

Feel free to contact the authors at [e-mail]

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License

Copyright (c) 2013, Cristóvão Duarte Sousa, Rui Cortesão

All rights reserved.

This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License