R-SIEL: Is a new algorithm for discovering dyanmic equations of serial manipulators. The algorithm was applied on three different robots: ABB SCARA, UR5, and KUKA KR4 AGILUS
Contents:
- The MATLAB SIMULINK model for each robot.
- The generated libraries for each robot and the corresponding data-sets.
- The code that is used to compare the discovered dynamic model of the proposed a lgorithm with simulation data and Euler Lagrange Equations.
Dependencies:
- MATLAB R2022b
- SIMULINK
- Multi body dynamics toolbox
- Parallel comuting toolbox
The data sets for all robots can be found through the following link: https://drive.google.com/drive/folders/1VWYIqk5KzFHpCCCPqHI37CsCHGrmJJHF?usp=share_link