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dfki-ric-underactuated-lab / torque_limited_simple_pendulum

Torque Limited Simple Pendulum Underactuated System
BSD 3-Clause "New" or "Revised" License
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"J" and "m*cx" are inaccurate in system_identification.py #14

Closed jia-xinyu closed 2 years ago

jia-xinyu commented 2 years ago

https://github.com/dfki-ric-underactuated-lab/torque_limited_simple_pendulum/blob/222c610b6ce8e684f7141c1eeddbeb8f85f45b65/software/python/simple_pendulum/model/system_identification.py#L87-L88

Hi, J and *mcx may not be accurate in dynamics. It would be better to change to I (Interia) and m** respectively.

shivesh1210 commented 2 years ago

@Jarvis861 Thanks for pointing out the wrong description in the comment. I have corrected it. J is the inertia and mcx is the mass times center of mass (com) of the system. If you observe the equations, it is not possible to identify the mass and com of the system independently and hence we use mcx.

jia-xinyu commented 2 years ago

You are right! I forgot the length.