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# Questions tagged [inverse-dynamics]

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### How does joint torque varies wrt joint velocities in Recursive Newton Euler algorithm?

I'm currently working on solving the inverse dynamics of a 6-axis articulated robot, similar to the UR5, using the recursive Newton-Euler algorithm. I'm very confused with the results I'm getting, as ...
• 55
83 views

### How do you get the force acting from the first robot link on the second robot link knowing the forces and moments in the base of the robot?

Inverse dynamics (ID) is the concern of finding the required joint forces from a specification of the joint positions, velocities, and accelerations. In the figure bloew, the ID problem would be the ...
• 101
1 vote
117 views

### Differential Inverse Kinematic Controller ROS

Inverse differential Kinematic - Problem with Orientation Hey guys, currently I am working to control my UR-Robot. My goal is to control the robot with inverse differential kinematics : 1.) vel_q = J^...
1 vote
80 views

### Can we show converenge for a variant of inverse dynamics controller?

I was wondering if it is possible to show that a variant of the inverse dynamics controller $$\tau = \mathbf{M}(q)\ddot{q}^\mathrm{des} + \mathbf{K}_pe + \mathbf{K}_d\dot{e} + \mathbf{h}(q, \dot{q})$$ ...
188 views

### Newton-Euler Inverse Dynamics by Screw

I paste this algorithm from textbook Modern Robotics P294 in chapter 8: This is coordinate invariance of Newton-Euler equations. In the textbook, they use the ...
• 187
1 vote
101 views

### Bullet vs SimMechanics: Inverse Dynamics and sensed forces/torques

This question may be a little broad, but I could not find any other information. How accurate are the inverse dynamics functions in SimMechanics compared to Bullet? How accurate are the sensed/...
• 113
1 vote
145 views

### How to interpret and apply results from Inverse Dynamics

I am applying Recursive Newton Euler Inverse Dynamics to a simple two link model. If I apply the result torques and forces using PhysX or Bullet Physics I get unexpected results. The model spins and ...
543 views

### Error in simmechanics matlab while doing inverse dynamics using custom joint

I am doing inverse dynamics in Matlab simmechanics in which position and orientation will be input to the end effector. But it shows error as below. Error originates in Mechanical block rob33/...
• 385
I know that inverse kinematics ($p \rightarrow q$, p: desired pose of the end-effector, q: joint angles) is not a function because there might be multiple joint angle vectors q that result in the same ...