# Tag Info

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

This would be too long for a comment, so I will add some work as an answer: The proof of $A(\mathbf{q})$ being invertible is not perfect. First, add some structure to the $K_p$ and $K_d$ matrices. ...
• 894
Accepted

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

This answer is inspired by Ryszard Szwarc's answer in: https://math.stackexchange.com/questions/4509062/how-to-show-that-the-matrix-0-i-m-1k-p-m-1k-d-has-eigenvalues. The dynamics of the system is in ...

### Newton-Euler Inverse Dynamics by Screw

maybe need some transformation from centers of mass to the joint frame? Isn't that what $A_i$ is? I don't have the book with me, but from your excerpt: Let $A_i$ be the screw axis of joint $i$ ...
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### Error in simmechanics matlab while doing inverse dynamics using custom joint

SimMechanics isn't an "inverse dynamics" engine, it's not an inverse kinematics engine, it's a "forward dynamics" or just "dynamics" engine. You provide link dimensions, inertias, and joint ...
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### Error in simmechanics matlab while doing inverse dynamics using custom joint

I solved this problem by seeing below image from internet. This image explain the constraints in coordinate system in simulink. R = revolute ; S = spherical; W = weld; P = prisimatic As I have ...
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1 vote

### Differential Inverse Kinematic Controller ROS

As discussed here, the orientation error is not simply one orientation minus another. It is best to convert your orientations into rotation matrices (which can be obtained from both Euler angles and ...
• 894
1 vote
Accepted

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

While SimMechanics and Bullet are both very reliable resources, in my experience, they serve different purposes. SimMechanics is more of a scientific environment as compared to Bullet which is a real-...
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