Inertia matrix M(q) and Centripetal + Coriolis torques C(q, q•)
Posted: Fri Aug 19, 2022 6:14 am
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 M is the inertia matrix, C is the Coriolis and Centripetal matrix, g is the torque due to gravity, q is the angle of joints, q• is the angular velocity, q•• is the angular acceleration and Tau is the torque.
Which can be generated by the Euler-Lagrange equations formulated using the Lagrangian.
Is there any tool present to help in finding any of these out? The closest thing I could find was the getMasses function that outputs the location of the centre of masses of the links, in the body the body frame. Even using this, a lot of manual calculation is required to actually get the M and C matrices or form the Lagrangian, let alone differentiate it to get this equation.
Thanks for your help ,
Aditya Nair
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 M is the inertia matrix, C is the Coriolis and Centripetal matrix, g is the torque due to gravity, q is the angle of joints, q• is the angular velocity, q•• is the angular acceleration and Tau is the torque.
Which can be generated by the Euler-Lagrange equations formulated using the Lagrangian.
Is there any tool present to help in finding any of these out? The closest thing I could find was the getMasses function that outputs the location of the centre of masses of the links, in the body the body frame. Even using this, a lot of manual calculation is required to actually get the M and C matrices or form the Lagrangian, let alone differentiate it to get this equation.
Thanks for your help ,
Aditya Nair