search

CentroEPiaggio / kuka-lwr

Software related to the KUKA LWR 4+: for real and for simulation.
The Unlicense
101 stars 81 forks source link

Modify computed torque control algorithm #97

Closed elton-choi closed 6 years ago

elton-choi commented 6 years ago

Modify Coriolis compensation term. KDL Coriolis term is not matrix but vector already multiplied by joint velocity.

carlosjoserg commented 6 years ago

Looks good to me.. it is indeed a JntArray https://github.com/orocos/orocos_kinematics_dynamics/blob/master/orocos_kdl/src/chaindynparam.cpp#L125

elton-choi commented 6 years ago

Yes, it is JntArray. I mean you don't need to multiply qdot. it might be already multiplied in return value of JntToCoriolis function.

carlosjoserg commented 6 years ago

Yes, I see.. thanks