Gazebo: Q&A Forum - RSS feedhttp://answers.gazebosim.org/questions/Open source question and answer forum for GazeboenCopyright Askbot, 2010-2011.Sat, 26 Aug 2017 16:18:17 -0500How to accurately simulate motor reduction effect on inertiahttp://answers.gazebosim.org/question/17113/how-to-accurately-simulate-motor-reduction-effect-on-inertia/I am researching humanoid robot walking and I am trying to use Gazebo to accurately simulate the DARwIn-OP robot in terms of dynamics. To have a accurate dynamic model, I am trying to accurately simulate the MX-28 servomotors dynamics. However, I have doubts about how I should include the motor reduction effect on inertia. I tried to simply add N^2 * Jmotor to the inertia of each driven link in the axis rotation direction. Despite not perfect, I have found that this is an approximation usually done in manipulator dynamics simulation. For a discussion about this, see: https://ntrs.nasa.gov/archive/nasa/casi.ntrs.nasa.gov/19900020545.pdf
However, since I do not know how exactly Gazebo simulates dynamics, I am not sure that I have implemented this correctly in Gazebo. Which is the correct way of implementing motor reduction effect on inertia in Gazebo?Marcos MaximoSat, 26 Aug 2017 16:18:17 -0500http://answers.gazebosim.org/question/17113/