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dynamic_parameter_identification's Introduction

Gravity Compensation

This is a repo for identification of robotic dynamic parameters including mass, inertia, friction, center of mass.

Currently, the code can only support revolute robots with fixed base. (Also theoretically support 6Dof robots).

The code has been tested on KUKA LBR MED R700 robot and Ubuntu 20.04 (ROS2 Version: Foxy).

The dependence of the libaray includes:

  1. optas
  2. lbr_fri_ros2
  3. scipy
  4. open3d

TODO

dynamic_parameter_identification's People

Contributors

tianhuanyu avatar mhubii avatar

Stargazers

Amir Noohain avatar Kirill Artemov avatar Chris Mower avatar avatar Neil Wang avatar Chayanin Tang (Chin) avatar

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Forkers

tianhuanyu

dynamic_parameter_identification's Issues

Robot trajectory problem in ROS2 Foxy

Hi, @mhubii . I meet a problem with Gazebo simulation in Foxy. When I run the second terminal for commanding trajectory, I find the robot executing a strange trajectory (Not only one-joint's motion). And the results are not saved in tmp file.

Is there something different between different ros version?

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