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!

edit retag flag offensive close merge delete

add a comment

5

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

Rosen Diankov

511 ●7 ●12 ●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)

edit flag offensive delete link

add a comment

0

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

Martin Günther

11816 ●82 ●159 ●198 https://www.dfki.de/en...

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).

edit flag offensive delete link

Comments

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

add a comment

Forward/Inverse Dynamics Library?

2 Answers

Comments

Question Tools

Stats

Related questions

Forward/Inverse Dynamics Library? edit

2 Answers

Comments

Question Tools

Stats

Related questions

Forward/Inverse Dynamics Library?