the dynamic parameters of the robots
Posted: 21 Apr 2022, 15:49
Question1: I want to construct a manipulator in Coppeliasim by Denavit Hartenberg convention. What should I do and how can I add dynamic parameters? such as mass, Center Of Gravity and inertia.
Question2: For predefined models in Coppeliasim, if I want to get the dynamic propeties, I can get this via the shape dynamics dialog. But are the center of gravity and inertia depicted in corresponding coordinate of link?The center of gravity may be depicted in the coordinate of world. I want the center of gravity and inertia depicted in corresponding coordinate of link.
Question3: The Denavit Hartenberg parameter obtained by ’models/tools/Denavit Hartenberg parameter extractor.ttm‘ is standard DH parameter or improved DH parameter.
Best wishes.
Question2: For predefined models in Coppeliasim, if I want to get the dynamic propeties, I can get this via the shape dynamics dialog. But are the center of gravity and inertia depicted in corresponding coordinate of link?The center of gravity may be depicted in the coordinate of world. I want the center of gravity and inertia depicted in corresponding coordinate of link.
Question3: The Denavit Hartenberg parameter obtained by ’models/tools/Denavit Hartenberg parameter extractor.ttm‘ is standard DH parameter or improved DH parameter.
Best wishes.