Real-Time Physics Simulation Forum

I wonder if calling calcuateInverseDynamics will give me the centrifugal force term in the generalized coordinate system. Maybe my questions is completely off the chart, but the reason why I have this questions is because by reading the resource code of the stable PD control, it makes me think this is the case.

I think I figured it out. When acceleration is zero, total force will be equal to centrifugal force from reduced coordinate system.