VRep: How to get the dynamic parameters of the robots
V-REP has a lot of robot models already available to be used. However, when controlling a robot, it is useful to have its model, both kinematic and dynamic. In this tutorial, we are going to show how to get the dynamic model of a generic robot in V-REP.
An important thing to know is that each link of the robot has a coordinate frame, but this coordinate is different when considering the inertias. To better understand this, take a look at the following images. The left one shows the frame of one link, and the right one shows the frames of the inertias.
To see the inertia frames, one can right click with the mouse and then click on "View" and then in "Visualize inertias".
Once both coordinates are different, in order to get the inertia tensors, it is necessary to know the inertia coordinate frames. However, this information is not easy to find.