Search found 6 matches
- Fri Oct 28, 2022 3:38 am
- Forum: Python
- Topic: Sign of torque values
- Replies: 2
- Views: 9336
Re: Sign of torque values
Hi Kamal! Thanks again for the response. Yeah this does make a lot of sense. Although, I still don't understand why the get_grav_comp_efforts function is giving the same positive value for the left and right legs. This is the trouble I'm having with get_grav_comp_efforts because it doesn't seem to r...
- Wed Oct 26, 2022 11:36 pm
- Forum: Python
- Topic: Sign of torque values
- Replies: 2
- Views: 9336
Sign of torque values
Hello again! We're try to do something with the daisy hexapod's torque feedback. What I'm unable to understand is for the same motion, the torques in the leg (obtained using the getJointState or the get_next_feedback function) change signs for the left and right legs. For example, if the middle righ...
- Sat Oct 01, 2022 3:11 am
- Forum: Python
- Topic: Inertia matrix M(q) and Centripetal + Coriolis torques C(q, q•)
- Replies: 2
- Views: 5586
Re: Inertia matrix M(q) and Centripetal + Coriolis torques C(q, q•)
Thank you so much for your response. I apologize for not being able to reply earlier. It helped us a lot in our work and we greatly appreciate it, it makes a lot of stuff possible now!
- Fri Aug 19, 2022 6:14 am
- Forum: Python
- Topic: Inertia matrix M(q) and Centripetal + Coriolis torques C(q, q•)
- Replies: 2
- Views: 5586
Inertia matrix M(q) and Centripetal + Coriolis torques C(q, q•)
Hey Everyone! We're working on a Daisy Hexapod and we're trying to do something with the torque data from the joints. For our application to be fruitful we need to find out the different terms of the standard equation for dynamic torque: Tau = M(q)(q••) + C(q, q•)(q•) + g(q) + Tau_end-effector Where...
- Mon Jul 18, 2022 10:25 am
- Forum: Python
- Topic: Derivative of Jacobian
- Replies: 2
- Views: 5585
Re: Derivative of Jacobian
Hello Matt!
Thanks for your insight. This makes a lot of sense and seems like the best way to go forward. If you have some pseudocode for this available, I would be most grateful.
Thanks again,
Aditya
Thanks for your insight. This makes a lot of sense and seems like the best way to go forward. If you have some pseudocode for this available, I would be most grateful.
Thanks again,
Aditya
- Fri Jul 15, 2022 4:04 am
- Forum: Python
- Topic: Derivative of Jacobian
- Replies: 2
- Views: 5585
Derivative of Jacobian
Hello! I'm currently working with a Daisy Hexapod. I need to figure out a way to change the joint angles in order for the Jacobian matrix to behave a certain way. For this I need a function that would output the derivative of the Jacobian Matrix with respect to the joint angles (6 by 3 by 3 matrix f...