Has anyone verified that this algorithm is correct？

[ohmyjesus]

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 equal to the torque value of the fifth joint obtained by this method. Is this the problem of this algorithm? I think my Newton Euler iterative method should not have problems. Is that the problem with this method?

[yt100323]

I have compare the result of sympybotics with that in Robotic toolbox in matlab, they almost the same, so ,I think the result is correct.

[ohmyjesus]

Can I get your contact information? I've been wondering here for a long time. I hope I can get some help from you (I'm chinese too )

[yt100323]

Can I get your contact information? I've been wondering here for a long time. I hope I can get some help from you (I'm chinese too )

I have reviewed your code in your space, I think it is worry to get Tau by rbt.H_code * rbt.dyn.baseparms, other way is rbt.H_code * rbtdef.dynparms(), it may work. my email is [email protected]

[ohmyjesus]

I didn't find what you said ''rbt.H_code * rbt.dyn.baseparms, other way is rbt.H_code * rbtdef.dynparms()''，Where did this appear ？

[ohmyjesus]

我找到了，比如第五关节力矩，我是回归矩阵的系数Mregress[240]~Mregress[299]分别对应乘以60个动力学参数得到的关节力矩torque5，但问题是这个力矩和我用牛顿欧拉迭代出来的关节力矩不相等

[yanlong658]

你好 我目前也是symoro計算出來的torque 與 matlab計算出來torque不相等 而sympyrobot計算出來的數值與matlab相近 請問這問題在symoro是有解的了嗎

感謝