simtk.org

Hello,

Right know, I am working with a double pendulum and I am trying to control each joint of it with the following control law: where U(\theta,t) is my control law ( The angular accelerations are computed there taking into account the error generated by the position of the joint). My question is:
How can I obtain the M(\theta) with the OpenSim API. I think there is a method called SimTK::SimbodyMatterSubsystem::calcM() but not sure if what I am looking for.

Thanks!

Almost every calculation related to the EOM is accessed in:

https://simtk.org/api_docs/simbody/3.5/ ... ystem.html

I suggest you read the Dox carefully in order to understand Simbody's convention. Yes can use , but first you need to realize the model to position stage because M(q) is a function of the positions (q).

Best

Thanks for the answer Dimitar.

Best regards

Is it possible to use an analogous call to compute the mass matrix in Matlab?

Yes, but you must use the latest version of OpenSim (v4.0).

Okay thank you!