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Calculating Mass Inertia Matrix in Joint Space

asked 2016-11-01 05:48:26 -0600

ravijoshi gravatar image

Hi, I am doing simulation of Baxter Robot. Hence I need to calculate Mass Inertia Matrix in Joint Space. I have Baxter URDF files. I see here that Mass Inertia Matrix in Joint Space is defined in following way- image description

However I am not sure, whether it is possible to get this matrix directly by using URDF file.

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answered 2016-11-01 18:35:48 -0600

JoshMarino gravatar image

updated 2016-11-01 18:36:12 -0600

One option is to create a robot model from KDLKinematics based on the URDF. This package can compute the Jacobian and mass matrix using the following functions from here: jacobian() and inertia(). You would have to change the end_link when calling the KDLKinematics() function for calculating jacobian() and inertia() for different chains.

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Perfect. This is what I was looking for. One quick question, by looking at cart_inertia function, I am confused. The Joint Space matrix defined above looks like cartesian space matrix. Isn't it?

ravijoshi gravatar image ravijoshi  ( 2016-11-02 01:43:07 -0600 )edit

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Asked: 2016-11-01 05:48:26 -0600

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Last updated: Nov 01 '16