Coriolis Tensor from KDL Chain

Submitted by arjunmenon on Thu, 2014-01-09 23:15

Hi all

I'm trying to get the actual n-by-n-by-n coriolis tensor from the KDL chain
for the PR2 arm.

Currently JntToCoriolis actually returns the product of

Where C is the coriolis tensor and is only a function of joint angles, and
what I am actually interested in.

Is there a way of doing this?

Thanks,
Arjun Menon
Robotics Institute
Carnegie Mellon University
www.arjunm.org

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Coriolis Tensor from KDL Chain

Submitted by arjunmenon on Sun, 2014-02-09 08:38.

Whoops, the equation changed somehow. Here's the quantity that
JntToCoriolis is returning

[image: Inline image 1]

Arjun Menon
Robotics Institute
Carnegie Mellon University
www.arjunm.org

On Thu, Jan 9, 2014 at 6:15 PM, Arjun Menon <agmenon [..] ...> wrote:

> Hi all
>
> I'm trying to get the actual n-by-n-by-n coriolis tensor from the KDL
> chain for the PR2 arm.
>
> Currently JntToCoriolis actually returns the product of
>
>
>
> Where C is the coriolis tensor and is only a function of joint angles, and
> what I am actually interested in.
>
> Is there a way of doing this?
>
> Thanks,
> Arjun Menon
> Robotics Institute
> Carnegie Mellon University
> www.arjunm.org
>

»