When I replaced the joints of the robot, I encountered a problem. That is, when I replaced the last fixed joint of a serial mechanical arm with a free joint, the calculation result of the inertial matrix of the robot was wrong, but the gravity matrix was correct. I checked the modified body chain and joint chain, and it is also correct.
What special treatment needs to be done after removing the joint? Any suggestion？ @gergondet
When I replaced the joints of the robot, I encountered a problem. That is, when I replaced the last fixed joint of a serial mechanical arm with a free joint, the calculation result of the inertial matrix of the robot was wrong, but the gravity matrix was correct. I checked the modified body chain and joint chain, and it is also correct. What special treatment needs to be done after removing the joint? Any suggestion？ @gergondet