Closed sm3304love closed 1 year ago
In that function, $\tau$ is calculated as a sum of $\hat{M}(\theta)(\text{ACCELERATION-VALUE-FROM-PID-TERMS})$ and InverseDynamics(thetalist, dthetalist, ddthetalistd, g, zeros(6, 1), Mlist, Glist, Slist)
, the later equals to $\hat{M}(\theta)\ddot{\theta_d}+\hat{h}(\theta,\dot{\theta})$.
In
ComputedTorque
function, Why termh(θ, ˙θ)_hat
is calculated byInverseDynamics(thetalist, dthetalist, ddthetalistd, g, zeros(6, 1), Mlist, Glist, Slist)
instead of usingVelQuadraticForce
andGravityForces
?