├── README.md ├── dynamics ├── REAMDE.md ├── data │ ├── mat │ │ ├── P_center.mat │ │ ├── P_link.mat │ │ ├── dyn_central_newtoneuler.mat │ │ ├── dyn_inertia_centra2link.mat │ │ ├── dyn_minimal_param_math.mat │ │ ├── dyn_minimal_param_syms.mat │ │ ├── dyn_param_linearization.mat │ │ ├── excit_filtering.mat │ │ ├── least_square.mat │ │ ├── mapping_Pmin2P.mat │ │ ├── min_regressor.mat │ │ └── regressor.mat │ └── txt │ │ ├── P_center.txt │ │ ├── P_link.txt │ │ ├── dyn_central_newtoneuler.txt │ │ ├── dyn_inertia_centra2link.txt │ │ ├── dyn_minimal_param_math.txt │ │ ├── dyn_minimal_param_syms.txt │ │ └── dyn_param_linearization.txt ├── dyn_central_newtoneuler.m ├── dyn_inertia_centra2link.m ├── dyn_mapping_Pmin2P.m ├── dyn_minimal_param_math.m ├── dyn_minimal_param_syms.m ├── dyn_param_linearization.m ├── expr │ ├── coriolis_matrix_derivation │ │ ├── derive_centrifugal_coriolis.m │ │ ├── dynamics_gen_coriolis_func.m │ │ ├── dynamics_gen_friction_func.m │ │ ├── dynamics_gen_gravity_func.m │ │ ├── dynamics_gen_inertia_func.m │ │ ├── mat │ │ │ ├── C.mat │ │ │ ├── F.mat │ │ │ ├── G.mat │ │ │ ├── M.mat │ │ │ └── TAU.mat │ │ ├── test_full_dynamics_part1.m │ │ ├── test_full_dynamics_part2.m │ │ └── test_full_dynamics_part3.m │ └── verify_dynamics_model │ │ ├── NewtonEuler91.m │ │ ├── NewtonEulerSym.m │ │ ├── README.md │ │ ├── compute_dyn_item.m │ │ ├── compute_model_error.m │ │ └── figs │ │ ├── 第1关节辨识参数验证.png │ │ ├── 第2关节辨识参数验证.png │ │ ├── 第3关节辨识参数验证.png │ │ ├── 第4关节辨识参数验证.png │ │ ├── 第5关节辨识参数验证.png │ │ ├── 第6关节辨识参数验证.png │ │ └── 第7关节辨识参数验证.png ├── run_dynamics.m └── utils │ ├── gen_params │ ├── MATLAB_params_variable.txt │ ├── P_center.mat │ ├── P_link.mat │ ├── cpp_params_macrodef.txt │ ├── cpp_params_variable.txt │ ├── gen_param_cpp_matlab.py │ └── print_param_in_terminal.m │ ├── mat2txt.m │ ├── regressor.m │ └── subs_power_item.py ├── excitation ├── README.md ├── data │ ├── opt_x.mat │ └── opt_x.txt ├── figs │ └── train │ │ ├── exJointAcc.png │ │ ├── exJointRad.png │ │ ├── exJointVel.png │ │ ├── excit_traj_simulation.gif │ │ └── plotCoord.png ├── interface │ ├── excit_traj_continuous.cpp │ ├── excit_traj_maths.cpp │ ├── excit_traj_s_planner.cpp │ ├── fourier_traj.m │ ├── opt_x.txt │ ├── sinusoidal_traj.m │ └── val_traj_sinusoidal.cpp ├── optimal_traj_vis.m ├── optimize_traj_constraints_fun.m ├── optimize_traj_constraints_mat.m ├── optimize_traj_main.m ├── optimize_traj_nonl_constraints.m ├── optimize_traj_object_fun_math.m ├── optimize_traj_object_fun_syms.m ├── run_optimize.m └── utils │ ├── compare_time.m │ ├── forward_kine.m │ ├── inspect_nan.m │ ├── mat2txt.m │ ├── min_regressor.m │ ├── robot_model.m │ └── traj_func.m ├── filtering ├── README.md ├── acc_filter.m ├── ang_filter.m ├── data │ └── excit │ │ ├── README.md │ │ ├── excit_acc_record.txt │ │ ├── excit_ang_record.txt │ │ ├── excit_filtering.mat │ │ ├── excit_motor_record.txt │ │ ├── excit_torque_record.txt │ │ └── excit_vel_record.txt ├── downsampling.m ├── figs │ └── excit │ │ ├── acc │ │ ├── Joint1Acc.png │ │ ├── Joint2Acc.png │ │ ├── Joint3Acc.png │ │ ├── Joint4Acc.png │ │ ├── Joint5Acc.png │ │ ├── Joint6Acc.png │ │ └── Joint7Acc.png │ │ ├── ang │ │ ├── Joint1Rad.png │ │ ├── Joint2Rad.png │ │ ├── Joint3Rad.png │ │ ├── Joint4Rad.png │ │ ├── Joint5Rad.png │ │ ├── Joint6Rad.png │ │ └── Joint7Rad.png │ │ ├── trq │ │ ├── Joint1Torque.png │ │ ├── Joint2Torque.png │ │ ├── Joint3Torque.png │ │ ├── Joint4Torque.png │ │ ├── Joint5Torque.png │ │ ├── Joint6Torque.png │ │ └── Joint7Torque.png │ │ └── vel │ │ ├── Joint1Vel.png │ │ ├── Joint2Vel.png │ │ ├── Joint3Vel.png │ │ ├── Joint4Vel.png │ │ ├── Joint5Vel.png │ │ ├── Joint6Vel.png │ │ └── Joint7Vel.png ├── run_filtering.m ├── trq_filter.m ├── utils │ └── compare_motor_jointtau.m └── vel_filter.m ├── flowchart.png └── identify ├── README.md ├── data ├── P_min.txt ├── excit_filtering.mat ├── least_square.mat └── min_regressor.mat ├── figs ├── diff │ ├── diff1.png │ ├── diff2.png │ ├── diff3.png │ ├── diff4.png │ ├── diff5.png │ ├── 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