#In this document are the main objetives of the project -build models -calculate errors -machine learning research
#Documentation for robotics research: (PYDY) https://pydy.readthedocs.io/en/stable/models.html (PYBOTICS) https://github.com/engnadeau/pybotics/blob/master/examples/dynamics.ipynb (pilz_robot_programming’s documentation) https://docs.ros.org/en/kinetic/api/pilz_robot_programming/html/index.html
#EXAMPLES Create the Robot Model from pybotics.robot import Robot from pybotics.predefined_models import ur10
robot = Robot.from_parameters(ur10()) Define the Forces/Torques Acting on the TCP
#Calculate Joint Torques What are the joint torques required to counteract this payload? This calculation can be repeated at each discrete pose in a trajectory for trajectory dynamics The degrees of freedom of the system are n + 1, i.e. one for each pendulum link and one for the lateral motion of the cart.
M x’ = F, where x = [u0, …, un+1, q0, …, qn+1]
The joint angles are all defined relative to the ground where the x axis defines the ground line and the y axis points up. The joint torques are applied between each adjacent link and the between the cart and the lower link where a positive torque corresponds to positive angle.
forces = [0, 0, 10] torques = [0, 0, 0] wrench = [*forces, *torques]