I need Joint torques that compensate gravity at certain joint configuration. Is there any API in CoppeliaSim like
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gravTorq = gravityTorque(robot,configuration)
If not, I also tried to load the same manipulator model in MATLAB and use
gravityTorqueto calculate it. However, the COM and Inertia is quite different. And the ways to describe COM and inertia are quite different between MATLAB and CoppeliaSim.(in CoppeliaSim we have an inertia frame relative to body frame, and then we set principal moments of inertia/mass in inertia frame. In MATLAB we only have a body frame, then we set COM and inertia matrix relative to the body frame). I don't know how to convert. How can I achieve this?
Thanks in advance.