Forward/Inverse Dynamics Library?
Hi, I want to ask if there is a Forward/Inverse Dynamics Library for a robot model
Thanks in advance for your help!
the recent openrave versions (0.7.x) have inverse dynamics which can be used as :
robot.SetDOFValues(dofvalues)
robot.SetDOFVelocities(dofvelocities)
torques = robot.ComputeInverseDynamics(dofaccelerations)
you can also split the contributions
torqueconfiguration, torquecoriolis, torquegravity = robot.ComputeInverseDynamics(dofaccelerations,None,returncomponents=True)
I suppose you mean forward and inverse kinematics, not dynamics? The easiest option is probably the package arm_kinematics_constraint_aware, although there are other options (such as OpenRAVE's ikfast module).
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Asked: 2012-06-04 22:28:56 -0500
Seen: 975 times
Last updated: Jun 06 '12
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