robotics-toolbox-matlab icon indicating copy to clipboard operation
robotics-toolbox-matlab copied to clipboard

Published 20 hours ago • verified publisher icon petercorke

corrected CoM of link7 of panda

Open jenskober opened this issue 3 years ago • 0 comments
trafficstars

as @AunSiro pointed out, the DH model of Gaz et al. (from which the dynamics parameters of the panda stem) models the flange with an 8th static joint, here this offset is part of link 7, so the center of mass needs to be adapted accordingly. also see https://github.com/petercorke/robotics-toolbox-python/pull/304

jenskober avatar Jul 13 '22 05:07 jenskober