I am rather new to screw theory and also lost in robotics books' formulas. we have a simulator of a robot arm within Mujoco physics engine and I'm wondering how I can calculate wrench and twist in the local and base coordinate frame.

In the simulator what I have available is the end-effector's translational (jacp) and rotational(jacr) Jacobians. In addition I can obtain joins positions, velocities, accelerations and torque sensors' readings along with some other time dependent variables that are usually available in simulators.

  • $\begingroup$ What are you hoping to calculate the wrench and twist of? The end effector? Each link? What would you consider to be the "local" and "base" frames? Unfortunately, it's hard to answer your question without more specifics. $\endgroup$ Sep 16 '21 at 13:48

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