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The goal of the project ROSdyn is to realize a ROS-based package that implement a fully automated procedure able to calibrate the robot dynamics model. The use of ROS ecosystem enable the standardization of several steps of the procedure, such as the messages exchanged between nodes. A further step towards standardization is represented by the u…

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CNR-STIIMA-IRAS/rosdyn

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ROSdyn implements a fully automated procedure able to calibrate the robot dynamics model.

It is integrated with MoveIt! to automatically compute, simulate, and execute identification trajectory. The result is stored in a URDF file.

Build/Installation

The software can be installed with the following rosinstall file.

Travis CI Kinetic Build: Build Status

IMPORTANT rosdyn_identification has been moved here.

List of packages

rosdyn_core see README:

Dynamics header library based on Eigen. With respect to KDL, it has two advantages: it is faster and it allow computing model regressor.

An example of usage can be found here

The following list shows the computation times for a 6DOF robot on a laptop Asus PU551J with Ubuntu 16.04 (Release build, average on 10000 trials).

** computation time in microseconds: **

pose = 0.75970 [us]

pose + jacobian = 1.06562 [us]

pose + jacobian + velocity twists for all links = 1.25589 [us]

pose + jacobian + velocity twists for all links + linear aceleration twists for all links = 1.25351 [us]

pose + jacobian + velocity twists for all links + non linear acceleration twists for all links = 1.51663 [us]

pose + jacobian + velocity twists for all links + acceleration twists for all links = 1.83826 [us]

pose + jacobian + velocity twists for all links + acceleration twists for all links + jerk twists for all links = 2.68916 [us]

pose + jacobian + velocity twists for all links + acceleration twists for all links + joint torque = 3.76733 [us]

pose + jacobian + joint inertia matrix = 10.06761 [us]

Acknowledgements

RosDyn is developed by CNR-STIIMA (www.stiima.cnr.it)


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Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu

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This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement no. 732287.

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The goal of the project ROSdyn is to realize a ROS-based package that implement a fully automated procedure able to calibrate the robot dynamics model. The use of ROS ecosystem enable the standardization of several steps of the procedure, such as the messages exchanged between nodes. A further step towards standardization is represented by the u…

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