Hi,
I was wondering if there is a not too difficult way to extract the dynamic equations of a model in the form M*theta_dotdot = ... in the parametric form (in particular where theta, theta_dot, theta_dotdot, masses, center of mass locations, segments dimensions are unknown).
Basically I would like to extract the equations for a model with unknown parameters but with defined joints between segments and degrees of freedom. That is probably what SimBody does, building the equations, segments after segment.
Is there a way to get the dynamic equations with the Matlab API? Otherwise, where should I look in the source code?
Thank you very much
Alessandro