Is it possible to do inverse dynamics?

jgerstmayr / EXUDYN

Multibody Dynamics Simulation: Rigid and flexible multibody systems

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Is it possible to do inverse dynamics? #10

Closed ManuelZ closed 2 years ago

ManuelZ commented 2 years ago

I'd like to ask if this library is capable of the following: given a mechanism and a desired motion of an "output" link, is it possible to obtain the needed torque in the "input" link to drive it?

jgerstmayr commented 2 years ago

yes, it is possible by applying a constraint that prescribes this motion (using a user function) and measuring the forces/torques on the constraint.

ManuelZ commented 2 years ago

Great, thank you.

ManuelZ commented 2 years ago

Just to be sure I understand correctly:

Is it possible to do the following?

Have a constraint that drives one end of the mechanism
Measure torque in a different constraint