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
>