Re: sign of the moment of inertia in the description of the KUKA LWR dynamics in KDL

On Fri, Sep 19, 2014 at 2:02 PM, Vincent Padois <[email protected]>
wrote:

> Hello,
>
> I am using the KUKA LWR kinematics and dynamics description that can be
> found in the KDL source code here:
> orocos_kinematics_dynamics/orocos_kdl/models/kukaLWR_DHnew.cpp
>
> and I am surprised to see that some of the  moments of inertia of the
> segments (joint 2 and 4 associated segments) are negative. By definition
> these terms should be positive. Can someone tell me more about the reason
> for these negative signs ?
>

It has been a long time, so I don't remember exactly but it might be due to
the fact that those axes are not right-hand turning?


> Also, how were these (I mean all of them, not just the negative ones)
> values identified/obtained ?
>

AFAIK they were obtained using
http://limo.libis.be/Lirias:lirias123456789/167731 on a LWR4 (not a LWR4+
IIRC)

R,


>
> Thanks in advance for your help,
> Best
> Vincent
>
> --
> Vincent Padois
> http://pages.isir.upmc.fr/~padois/website
>
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>
>


-- 
Ruben Smits, CTO
+32 479 511 786
Intermodalics - Kapeldreef 60, 3001 Heverlee - BELGIUM
www.intermodalics.eu

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