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Inverse Dynamics Algorithm
Posted: Wed Sep 12, 2018 12:45 pm
by __michael__
What kind of algorithm is used for the inverse dynamics computation? Is there any citable source for the algorithm description?
Thanks alot.
Michael
Re: Inverse Dynamics Algorithm
Posted: Wed Sep 12, 2018 4:14 pm
by Erwin Coumans
The computation of the joint space inertia (mass)
matrix matrix is using the Composite Rigid Body Algorithm.
// The algorithm is essentially an implementation of "method 3"
// in "Efficient Dynamic Simulation of Robotic Mechanisms" (Walker and Orin, 1982)
// (Later named "Composite Rigid Body Algorithm" by Featherstone).
The
inverse dynamics calculation uses the Recursive Newton-Euler Algorithm (RNEA), proposed for use in robotics by Walker and Paul in 1980 in "On-line computational scheme for mechanical manipulators"