Robotran C Documentation

Inverse dynamics

Computation of the system inverse dynamics.
For more information, see Robotran theoritical framework.

Code sample

For running the inverse dynamics, run a direct dynamic simulation and impose the trajectory (position, velocity and acceleration) of each independant joint of your system.

Then retrieve the torques and forces applied in your actuator in the "*_Qc.res" result file.

Further developments

Todo:

: A specific inverse dynamics module still need to be realized for MBsysC.

: Explain how to retrieve actuator force/torque in a dependant joint.