A ROS2-based software library for inverse dynamics computation
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866916687302885376 |
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| author | Petrone, Vincenzo Ferrentino, Enrico Chiacchio, Pasquale |
| author_facet | Petrone, Vincenzo Ferrentino, Enrico Chiacchio, Pasquale |
| contents | Inverse dynamics computation is a critical component in robot control, planning and simulation, enabling the calculation of joint torques required to achieve a desired motion. This paper presents a ROS2-based software library designed to solve the inverse dynamics problem for robotic systems. The library is built around an abstract class with three concrete implementations: one for simulated robots and two for real UR10 and Franka robots. This contribution aims to provide a flexible, extensible, robot-agnostic solution to inverse dynamics, suitable for both simulation and real-world scenarios involving planning and control applications. The related software is available at https://github.com/unisa-acg/inverse-dynamics-solver/tree/rap. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_06106 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | A ROS2-based software library for inverse dynamics computation Petrone, Vincenzo Ferrentino, Enrico Chiacchio, Pasquale Robotics Inverse dynamics computation is a critical component in robot control, planning and simulation, enabling the calculation of joint torques required to achieve a desired motion. This paper presents a ROS2-based software library designed to solve the inverse dynamics problem for robotic systems. The library is built around an abstract class with three concrete implementations: one for simulated robots and two for real UR10 and Franka robots. This contribution aims to provide a flexible, extensible, robot-agnostic solution to inverse dynamics, suitable for both simulation and real-world scenarios involving planning and control applications. The related software is available at https://github.com/unisa-acg/inverse-dynamics-solver/tree/rap. |
| title | A ROS2-based software library for inverse dynamics computation |
| topic | Robotics |
| url | https://arxiv.org/abs/2504.06106 |