How to recover the term joint acceleration ?

Question

How to recover the term joint acceleration ?

Closed this issue 6 years ago · 4 comments

Hello,
I need recover the term joint acceleration to compute the cartesian acceleration of the effector. But i didn't find it in RobotDyn Class.
Thank you.
ZHENG Pu

Answer 1 · 2018-04-04T09:35:39.000Z

It can be compute by the dynamic equation.

Answer 2 · 2018-04-04T09:49:05.000Z

exactly, it is an estimation though. As the mass matrix might not be 100% accurate, and the torque sensing either.

Answer 3 · 2018-04-04T09:55:56.000Z

Why do you need this term ?

Answer 4 · 2018-04-04T10:07:23.000Z

I need this term to compute the derivative of the jacobian in another point.