VRep: How to get the dynamic parameters of the robots

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Revision as of 18:57, 22 January 2018 by Mariana.fonseca (Talk | contribs)

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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.

Inertia frame.png