3 votes

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. ...
domo_arigato's user avatar
3 votes
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 ...
QualsPassed's user avatar
2 votes

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 $i$ ...
Chuck's user avatar
  • 16k
2 votes

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 ...
Chuck's user avatar
  • 16k
2 votes

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 ...
Naseeb Gill's user avatar
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 ...
domo_arigato's user avatar
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-...
Akshay Kumar's user avatar

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