SymPyBotics
SymPyBotics copied to clipboard
cdsousa
[UNMAINTAINED] Symbolic Framework for Modeling and Identification of Robot Dynamics
i use this tool to get the "min param group", but i want to use the dynamics ( M*q_dot_dot + H*q_dot+G = t ).
Since I want to do adaptive control, through this equation M(q)·v_dot+C(q,q_dot)·v+G=Y(q,q_dot,v,v_dot), finally get the regression matrix of four parameters , Can I generate such a matrix by changing the code?
Does anyone have this problem?
Hi，i am researching on the symbolic paramter for kinmatic and dynamic in robotic , now i have a problem on symbolic assignment in this toolbox. In the exmaple all values...
In this function, dV[i] = ifunc(geom.S[i] * rbtdef.ddq[i]) + \ ifunc(Adj(geom.Tdh_inv[i], dV[i - 1])) + \ ifunc(**adj(ifunc(Adj(geom.Tdh_inv[i], V[i - 1]))**, ifunc(geom.S[i] * rbtdef.dq[i]))) but I think dV[i] = ifunc(geom.S[i] *...
When I was identifying the inertia parameters of the fifth joint, I found that the torque of the fifth joint obtained by the Newton Euler inverse dynamic equation was not...
hen I annotation these codes, the problem is solved. in subexprs.py ... # if sympy.iterables.iterable(expr): # return expr ...
Hi, I am trying to run the example code step by step in the Python Shell. When I put rbt = sympybotics.RobotDynCode(rbtdef, verbose=True), I got the following errors. Please give...
Hey, thanks for providing this very useful tool. I was not 100% sure, how to interprete your description of the barycentric parameters: "L is the link inertia tensor computed about...
The model in the following code leads to an error: ``` import sympy import sympybotics rbtdef = sympybotics.RobotDef('left_arm', [('pi/2', 0, 0, 'pi/2'), ('pi/2', 0.03, 0.246, '-pi'), ('-pi/2', -0.03, 0, '-pi/4'),...
