Computing inverse dynamics components
Posted: Wed May 20, 2020 5:24 am
I am writing a an Inverse Dynamics Controller in OpenSim and was wondering if it is possible to compute the "known" components of the Inverse Dynamics equation:
My current idea is to use an external library (e.g. KDL) to compute these, given I know the q and qdot vectors. Is there a better approach?
My current idea is to use an external library (e.g. KDL) to compute these, given I know the q and qdot vectors. Is there a better approach?