Dynamic robot model in Gazebo [closed]

asked 2021-08-13 10:03:50 -0500

giomig gravatar image


I'm working with a robot manipulator simulated in Gazebo. I'd like to know which is the dynamic model used by Gazebo in the simulation environment. Is it in the form (in joint space) Hqdd + Cqd + g = tau where H is the inertia matrix, qdd is the vector of acceleration, C the centrifugal and Coriolis force matrix, qd is the vector of velocity, g is the vector of gravity and tau il the vector of applied joint torque OR the dynamic model is in some other form?

Thank you all for help.

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Closed for the following reason Gazebo Question: The Gazebo community prefers to answer questions at: http://answers.gazebosim.org by gvdhoorn
close date 2021-08-13 11:09:31.409596


Seems this was already (cross-posted) to Dynamic robot model used in Gazebo on Gazebo Answers.

gvdhoorn gravatar image gvdhoorn  ( 2021-08-14 03:51:34 -0500 )edit