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The convenstion of inverseDynamic #11

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petertheprocess opened this issue Sep 26, 2024 · 1 comment

petertheprocess commented Sep 26, 2024 •

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/*
 * Function: This function uses forward-backward Newton-Euler iterations to caculate inverse dynamics
 * Inputs: q: joint angles
 *         qd: joint velocities
 *         qdd: joint accelerations
 *         Ftip: Spatial force applied by the end-effector
 * Returns: required joint forces/torques
 */
Vec6 inverseDynamics(Vec6 q, Vec6 qd, Vec6 qdd, Vec6 Ftip);

I want to know what's the convention of Ftip
[Fx Fy Fz Tx Ty Tz] or [Tx Ty Tz Fx Fy Fz]

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Agnel-Wang commented Oct 29, 2024

Z1 use the convention of RBDL, rpyxyz

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