How can I get gravity torque?
Posted: 18 Feb 2021, 12:46
Hi Coppelia:
I need Joint torques that compensate gravity at certain joint configuration. Is there any API in CoppeliaSim like
in MATLAB?
If not, I also tried to load the same manipulator model in MATLAB and use
Thanks in advance.
I need Joint torques that compensate gravity at certain joint configuration. Is there any API in CoppeliaSim like
Code: Select all
gravTorq = gravityTorque(robot,configuration)
If not, I also tried to load the same manipulator model in MATLAB and use
gravityTorque
to 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.