Is calculateInverseDynamics the same as centrifugal force?

Official Python bindings with a focus on reinforcement learning and robotics.
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r9dyt
Posts: 5
Joined: Tue May 19, 2020 4:42 pm

Is calculateInverseDynamics the same as centrifugal force?

Post by r9dyt » Fri Sep 04, 2020 11:06 pm

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.

r9dyt
Posts: 5
Joined: Tue May 19, 2020 4:42 pm

Re: Is calculateInverseDynamics the same as centrifugal force?

Post by r9dyt » Sat Sep 12, 2020 5:33 pm

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

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