Compute mass matrix with ROS
I want to control UR10 inside Gazebo simulation and ROS. I settled down the issue of planning motion with MoveIT and executing trajectories using position_controllers/JointTrajectoryController. Now I would like to model dynamics of the arm and control it using forces.
My control signal is going to be set like this:
So here are two questions:
Is it possible to compute mass matrix M and gravity vector g using built it ROS packages or should I do it manually? For me it seems like the computation can be performed automatically because all the required information is specified in URDF file. Nevertheless I have not found any information about how to do it.
It seems like I need custom controller in between MoveIT's movegroupinterface and Gazebo's torque controller which will take care of computing u and pass it to the Gazebo controller. How should I do that?
Thanks!
Asked by nameofuser1 on 2018-05-31 13:51:08 UTC
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