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Thank you in advance! ❤️
Inverse Dynamics From Commands
Get torque or force by inverse dynamics from commands
Inputs
| Name | ID | Description | Type |
|---|---|---|---|
| Robot | Robot | Robot | Robot6DType |
| CMD | CMD | Commond | Arm command type |
| Tip | Tip | Tip force | Number |
| Root | Root | Root plane | Plane |
| Fric | Fric | Viscous friction | Number |
| Step | Step | Step | Number |
Outputs
| Name | ID | Description | Type |
|---|---|---|---|
| Joint | Joint | Joint(Unit:mm|deg) | Joint value group |
| Torque | Torque | Torque | Torque|force group |
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