/cslibs_kdl

Kinematic and Dynamic Library for Manipulators wraps Orocos KDL and trac_ik solvers. Provides an external torque observer.

Primary LanguageC++BSD 3-Clause "New" or "Revised" LicenseBSD-3-Clause

Kinematic and Dynamic Library

Depends on orocos_kdl orocos_kdl and trac_ik. Implements kinematic and dynamic models, and an external torque observer [1].

[1] De Luca, A. and Mattone, R. (2005). Sensorless robot collision detection and hybrid force/motion control. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pages 999–1004.