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- 20 Nov 2021, 18:42
- Forum: General questions
- Topic: Calculating gravity torque for joints of robot manipulator
- Replies: 1
- Views: 7459
Calculating gravity torque for joints of robot manipulator
Hi. I want to apply PD + Gravity compensation control and for that I need the gravity term to be calculated. In Coppeliasim, how I can get gravity torques applied to the robot arm's joints? For example, if you calculate inverse dynamics by making velocity and acceleration zero, then you will only ge...