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Andrew
Andrew
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I want to implement a manipulator link using a phisicphysic library. I can only apply some torque to the centercentre of mass, but, i guess, the torque should be applied at the beginning of the link. 

Shifting a reference frame from the centercentre of mass and reculculatingrecalculating inertia tensor in the new frame is not a problem, neither is recalculating a new torque, based on the change of distance, but iI think it is not the correct solution. 

In short, how can iI scale a torque of a control signal applied at the begginingbeginning of the link to a torque of a physic simulation applied to the centercentre of mass. Thanks.

I want to implement a manipulator link using a phisic library. I can only apply some torque to the center of mass, but, i guess, the torque should be applied at the beginning of the link. Shifting a reference frame from the center of mass and reculculating inertia tensor in the new frame is not a problem, neither is recalculating a new torque, based on the change of distance, but i think it is not the correct solution. In short, how can i scale a torque of a control signal applied at the beggining of the link to a torque of a physic simulation applied to the center of mass. Thanks.

I want to implement a manipulator link using a physic library. I can only apply some torque to the centre of mass, but the torque should be applied at the beginning of the link. 

Shifting a reference frame from the centre of mass and recalculating inertia tensor in the new frame is not a problem, neither is recalculating a new torque, based on the change of distance, but I think it is not the correct solution. 

In short, how can I scale a torque of a control signal applied at the beginning of the link to a torque of a physic simulation applied to the centre of mass. Thanks.

add tag for simulator
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edit approved Aug 2, 2014 at 9:17
Ben ♦
edit approved Aug 2, 2014 at 9:17
Ben ♦
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andrey
andrey
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Manipulator link applied torque

I want to implement a manipulator link using a phisic library. I can only apply some torque to the center of mass, but, i guess, the torque should be applied at the beginning of the link. Shifting a reference frame from the center of mass and reculculating inertia tensor in the new frame is not a problem, neither is recalculating a new torque, based on the change of distance, but i think it is not the correct solution. In short, how can i scale a torque of a control signal applied at the beggining of the link to a torque of a physic simulation applied to the center of mass. Thanks.