mesereta / manipulator_parameter_identification

Dynamic parameter identification of a 7-DOF robotic manipulator

Parameter_ID

This repo contains code for determining regressor matrix for systematic parameter identification of robots.

Dependencies

DART -

Dart is an open source physics engine for simulating articulated rigid bodies with high accuracy and efficiency and PyDart2 is a python binding of Dart. To install Dart, please follow the below instructions:

Prerequisites for Ubuntu

sudo apt-get install build-essential cmake pkg-config git
sudo apt-get install libeigen3-dev libassimp-dev libccd-dev libfcl-dev libboost-regex-dev libboost-system-dev
sudo apt-get install libopenscenegraph-dev
sudo apt-get install libbullet-dev
sudo apt-get install liburdfdom-dev
sudo apt-get install libnlopt-dev
sudo apt-get install libxi-dev libxmu-dev freeglut3-dev
sudo apt-get install libode-dev # ignore this if it tells you ode has already been installed

Download and install Dart

git clone git://github.com/dartsim/dart.git
cd dart
git checkout tags/v6.3.0
mkdir build
cd build
cmake ..
make -j4
sudo make install

09-URDF

This repo comes when you clone the entire repo 'Parameter_ID'

Before compialation, change the file names of some important files listed below:

• InputQfilename
• InoutQdotfilename
• InputQdotdotfilename
• Inputtorquefilename

Compilation

Follow the steps to install

mkdir build cd build cmake .. make

Usage

In order to run with a simulation, follow instructions in 41-krang-sim-ach to launch the ach channels and processes required before this program is run. Then in the build folder of this repo, type:

sudo ./Get_phi_ArmDynamics <train/test.

Please use either train or test to run algorithm on training or testing data