Use inverse dynamics in feedforward controller

Discussion in 'Simulation' started by Linfeng, Sep 25, 2018.

  1. Linfeng

    Linfeng

    Hi, all

    My task is control deisgn of a 6 d.o.f industrial robot arm. Chosen a feedforward-feedback torque control configuration, an item of inverse dynamics is needed in controller formulation. Please kindly refer to the following figure, which is substracted from Chapter 9 of P. Corke's book:

    controller-configuration.png

    So given the demand trajectory (qpos_desired, qvel_desired, qacc_desired), could I directly use the output value of RNE, namely "mjData.qfrc_inverse", as the feedforwad item in aformentioned controller?

    Thanks
     
    Linfeng, Sep 25, 2018
    #1