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constraints do not apply in inverse dynamics
Posted: Wed Jun 24, 2020 10:10 am
by danmenpui
- exo.png (60.61 KiB) Viewed 374 times
Hi, I am trying to join the following exoskeleton to the arm, to achieve this I have used a weldconstraint to close the system. The problem is that when doing the inverse dynamic study, the weldconstraint is omitted, obtaining unexpected results. Is there a way to get the resolution to work? In the next post (
viewtopicPhpbb.php?f=91&t=11925&p=0&sta ... 0f78d96154) I think there is talk of a possible solution, but I do not finish understanding how to apply it. Any help is welcome.
Thank you
Re: constraints do not apply in inverse dynamics
Posted: Mon Jun 29, 2020 12:19 am
by mitkof6
Hi Dani,
Typically, these type of problems are solved using the forward dynamics approach, because ID works only for unconstrained systems. In your case, you can use the CMC tool. After executing CMC you can calculate the joint moments due to all actuators (e.g., muscles and motors) using the AnalyzeTool and MuscleAnalysis. Also, it is possible to append the muscle analysis in the CMC .xml setup file and do this directly in one step.
Re: constraints do not apply in inverse dynamics
Posted: Fri Jul 03, 2020 1:14 am
by danmenpui
Thanks Dimitar, Could it also be solved using MOCO?