CompositeInertia

Generally there are two algorithm to calculate robot dynamics.

Featherstone’s algorithm Lagrangian method

Fetherstone’s algorithm best practice is so-called Articulated-Body Algorithm which is described in forward_dynamics_propagation.md

Here we discuss a most import part in Lagrangian method. how to get composite inertia.

Theory

Pseudo

Code H = 0 for \(i = 1\) to \(N_B\)   \(I^c_i = I_i\) end for i = N_B to 1     if \(\lambda(i) \ne 0\) \(\qquad I^A_{\lambda(i)} = I^A_{\lambda(i)} + {}^{\lambda(i)}X^*_i I^c_i \space {}^iX_{\lambda(i)}\) end Generally there are two algorithm to calculate robot dynamics.

Featherstone’s algorithm Lagrangian method

Fetherstone’s algorithm best practice is so-called Articulated-Body Algorithm which is described in forward_dynamics_propagation.md

Here we discuss a most import part in Lagrangian method. how to get composite inertia.

Theory

Pseudo

Code H = 0 for \(i = 1\) to \(N_B\)   \(I^c_i = I_i\) end for i = N_B to 1     if \(\lambda(i) \ne 0\) \(\qquad I^A_{\lambda(i)} = I^A_{\lambda(i)} + {}^{\lambda(i)}X^*_i I^c_i \space {}^iX_{\lambda(i)}\) end