UR3 Force Estimation

My graduation thesis, consisting in estimating the end-effector force on the UR3 robot manipulator

What's in these folders?

• The derivation of the dynamic model is in mathematica, and was done in the Wolfram Mathematica software. Even if you don't have Mathematica, you can open the .m files with a text editor and see the code. The generated matrices are in the path folder
• experiment contains experimental data collected from the robot. It contains the raw data (rosbag data) and the scripts used to unpack the bags and to filter/derivate
• identification contains the codes used to generate the identification trajectory and to get the dynamic parameters from the model and from the data
• ukf contains the Unscented Kalman Filter code for the force estimation
• ros contains a simple MATLAB program that connects to the ROS network and plots the measured data in real time. This program was used as a test to figure out how to do it later with the ukf
• data contains all the generated .mat files by all the programs
• catkin_ur3 contains the ROS programs

How to use

First, run setup.m to set up the path to the folder. Then you can run whatever you like. My workflow was first deriving the dynamic model, then generating a identification trajectory, solving the identification and finally run the ukf.