search

borglab / GTDynamics

Full kinodynamics constraints for arbitrary robot configurations with factor graphs.
BSD 2-Clause "Simplified" License
39 stars 10 forks source link

Feature/serial #306

Closed dellaert closed 2 years ago

dellaert commented 2 years ago

A prototype implementation for serial manipulators.

If assumed massless (@danbarla ) the Jacobian calculated by the poe method can be used to compute torques $tau=J^T \mathcal{F}$ with F the wrench at the end-effector (foot). We can "easily" add joint angle dynamics, actually, in a later PR, I think.

The last test shows decomposition of the Panda, effortlessly.

dellaert commented 2 years ago

@danbarla I added some math for you to read

dellaert commented 2 years ago

@Joobz also approve if you're satisfied I can easily address comments.