Experimental Identification of Physically Feasible Dynamic Parameters of the 7-link WAM™ 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
- Cristóvão D. Sousa, crisjss@gmail.com
- Rui Cortesão, cortesao@isr.uc.pt
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
- 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:
Feel free to contact the authors at crisjss@gmail.com
Copyright (c) 2013, Cristóvão Duarte Sousa, Rui Cortesão
All rights reserved.
