Search found 6 matches

by AdityaNair
Fri Oct 28, 2022 3:38 am
Forum: Python
Topic: Sign of torque values
Replies: 2
Views: 5896

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...
by AdityaNair
Wed Oct 26, 2022 11:36 pm
Forum: Python
Topic: Sign of torque values
Replies: 2
Views: 5896

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...
by AdityaNair
Sat Oct 01, 2022 3:11 am
Forum: Python
Topic: Inertia matrix M(q) and Centripetal + Coriolis torques C(q, q•)
Replies: 2
Views: 3822

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!
by AdityaNair
Fri Aug 19, 2022 6:14 am
Forum: Python
Topic: Inertia matrix M(q) and Centripetal + Coriolis torques C(q, q•)
Replies: 2
Views: 3822

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...
by AdityaNair
Mon Jul 18, 2022 10:25 am
Forum: Python
Topic: Derivative of Jacobian
Replies: 2
Views: 4250

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
by AdityaNair
Fri Jul 15, 2022 4:04 am
Forum: Python
Topic: Derivative of Jacobian
Replies: 2
Views: 4250

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...