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TOPIC: Get Centrifugal/Coriolis Matrix

Get Centrifugal/Coriolis Matrix 4 years 1 month ago #1

  • Dehio
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Hi,

for implementing a controller based on the robot dynamics I need the
mass-inertia matrix M(q), the centrifugal and coriolis terms C(q,qdot)
and gravity G(q), where q are the joint angles and qdot the joint
velocities.
This is also pointed out here (lower part):
www.robotran.be/appli/appli-research/363...uloskeletal-modeling

As far as I understand, the mass-inertia matrix and gravity are provided
by the automatically generated file mbs_dirdyna_*.
So, how do I access the matrix giving me the centrifugal and coriolis terms?

Thank you very much

best,
Niels
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