KDL Forward Dynamics Solver

Hi,

I'd like to use KDL to simulate dynamic control of robot manipulators. I
see there is an Inverse Dynamics solver in KDL. I cannot see the Forward
Dynamics solver (solving for joint accelerations from joint positions,
velocities and torques). Is there a way to solve the Forward Dynamics in
KDL? Thanks in advance.

Regards,
Ndivhuwo.

KDL Forward Dynamics Solver

Hi,
You cannot solve forward dynamics with KDL, but but there are many dynamics
simulators available, like gazebo or Vrep that are well documented and
quite easy to use !
Good luck !

Le ven. 6 mai 2016 01:28, Ndivhuwo Makondo <ndivhuwo9 [..] ...> a écrit :

> Hi,
>
> I'd like to use KDL to simulate dynamic control of robot manipulators. I
> see there is an Inverse Dynamics solver in KDL. I cannot see the Forward
> Dynamics solver (solving for joint accelerations from joint positions,
> velocities and torques). Is there a way to solve the Forward Dynamics in
> KDL? Thanks in advance.
>
> Regards,
> Ndivhuwo.
>
> --
> Ndivhuwo Makondo
> BSc (Electrical Engineering, UCT), MSc (Electrical Engineering, UCT).
> -----------------------------------------------------
>
> Research and Development Engineer
> CSIR Modelling and Digital Sciences
> Mobile Intelligent Autonomous Systems
> Currently on study leave
>
> CSIR Building 17A
>
> P.O.Box 395, Pretoria, 0001
>
> South Africa
>
> -------------------------------------------
>
>
> Ph.D student in Computational Intelligence
>
> Osamu Hasegawa Laboratory
>
> Department of Computational Intelligence and Systems Science
>
> Interdisciplinary Graduate School of Science and Technology
>
> Tokyo Institute of Technology
>
> J3-13, 4259 Nagatsuta-cho, Midori-ku, Yokohama, 226-8503, Japan
> Imaging Science and Engineering Laboratory, Tokyo Institute of Technology.
>
> Cell: +81 80 4689 0882 (Japan).
>
>
> --
> Orocos-Users mailing list
> Orocos-Users [..] ...
> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
>

KDL Forward Dynamics Solver

Thank you for your response.

I was hoping KDL has direct dynamics solver, like the one in RBDL and Peter
Corke's Matlab Robotics Toolbox, that I can use "offline" to compute
accelerations. I will have a look at Gazebo since I had already installed
it.

On Fri, May 6, 2016 at 10:35 PM, Antoine Hoarau <hoarau [dot] robotics [..] ...>
wrote:

> Hi,
> You cannot solve forward dynamics with KDL, but but there are many
> dynamics simulators available, like gazebo or Vrep that are well documented
> and quite easy to use !
> Good luck !
>
> Le ven. 6 mai 2016 01:28, Ndivhuwo Makondo <ndivhuwo9 [..] ...> a écrit :
>
>> Hi,
>>
>> I'd like to use KDL to simulate dynamic control of robot manipulators. I
>> see there is an Inverse Dynamics solver in KDL. I cannot see the Forward
>> Dynamics solver (solving for joint accelerations from joint positions,
>> velocities and torques). Is there a way to solve the Forward Dynamics in
>> KDL? Thanks in advance.
>>
>> Regards,
>> Ndivhuwo.
>>
>> --
>> Ndivhuwo Makondo
>> BSc (Electrical Engineering, UCT), MSc (Electrical Engineering, UCT).
>> -----------------------------------------------------
>>
>> Research and Development Engineer
>> CSIR Modelling and Digital Sciences
>> Mobile Intelligent Autonomous Systems
>> Currently on study leave
>>
>> CSIR Building 17A
>>
>> P.O.Box 395, Pretoria, 0001
>>
>> South Africa
>>
>> -------------------------------------------
>>
>>
>> Ph.D student in Computational Intelligence
>>
>> Osamu Hasegawa Laboratory
>>
>> Department of Computational Intelligence and Systems Science
>>
>> Interdisciplinary Graduate School of Science and Technology
>>
>> Tokyo Institute of Technology
>>
>> J3-13, 4259 Nagatsuta-cho, Midori-ku, Yokohama, 226-8503, Japan
>> Imaging Science and Engineering Laboratory, Tokyo Institute of
>> Technology.
>>
>> Cell: +81 80 4689 0882 (Japan).
>>
>>
>> --
>> Orocos-Users mailing list
>> Orocos-Users [..] ...
>> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
>>
> --
> Antoine Hoarau
> Robotics Eng. - ISIR
>