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dmronga
changed the title
Center of mass computation in RobotModelKDL is incorrect
Center of mass and CoM Jacobian in RobotModelKDL is incorrect
Nov 9, 2022
The different robot models do not deliver consistent results for all quantities computed. Party, this is because of a different representation of the floating base. In this case it is not clear if consistent results are possible at all. The following inconsistencies currently exist:
Only floating base systems:
All models: The Jacobians, spatial acceleration bias, bias forces, as well as the mass-inertia matrix will be different for every model. To be checked:
Why does the spatial acc bias differ for every model, when the forward kinematics (pos/vel/acc) is consistent?
For the Jacobians, only the first 6 columns (floating base) are incosistent. However, for the the Mass-matrix and the bias forces there are also inconsistencies in the columns that correspond to the other joints. Why?
dmronga
changed the title
Center of mass and CoM Jacobian in RobotModelKDL is incorrect
Robot Models deliver inconsistent results
Nov 28, 2022
The result differs form RBDL and pinocchio
The text was updated successfully, but these errors were encountered: