Dynamic robot model used in Gazebo

asked 2021-08-13 10:05:21 -0600

giomig gravatar image

Hi,

I'm working with a robot manipulator simulated in Gazebo. I'd like to know which is the dynamic model used by Gazebo in the simulation environment. Is it in the form (in joint space) Hqdd + Cqd + g = tau where H is the inertia matrix, qdd is the vector of acceleration, C the centrifugal and Coriolis force matrix, qd is the vector of velocity, g is the vector of gravity and tau il the vector of applied joint torque OR the dynamic model is in some other form?

Thank you all for help.

edit retag flag offensive close merge delete