Forward/Inverse Dynamics Library?

asked 2012-06-04 22:28:56 -0600

nakagawa

41 ●2 ●4 ●5

Hi, I want to ask if there is a Forward/Inverse Dynamics Library for a robot model

Thanks in advance for your help!

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answered 2012-06-06 19:12:51 -0600

Rosen Diankov

491 ●7 ●11 ●18 http://openrave.org/

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)

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answered 2012-06-05 05:21:05 -0600

Martin Günther

10499 ●70 ●128 ●177 http://robotik.dfki-br...

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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Thank you, this package seems to be one solution. However, my needs are not only kinematics but also dynamics.

nakagawa ( 2012-06-06 18:11:47 -0600 )edit

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