Dynamics model for Reachy's arm

We are trying to derive the dynamical model of the robot’s arm to be the base of a new control method we are implementing.

As the question involves a lot of equations, we have attached the full question as images for convenience.

Please let us know if anything is unclear and thanks in advance!

Hi Ziad,
It is nice to see that you are working on a new control method !

There is a simple way to get the center of mass and the inertia matrix that you need:

  • Follow the links to the the 3D mechanical parts of Reachy that have been shared in this post: 3D CAD models release!

  • When you can see Reachy’s parts in Onshape, you can click on the Screenshot 2020-07-23 at 12.32.11 icon on the right side of the toolbar at the bottom of the interface.

  • There, you can click on the part that you’re interested in and have access to what you need:

I hope this is clear and will help you!

Augustin.

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Hi @Augustin,

Thanks a lot for your reply, that’s definitely very helpful. We’ll check it out :smiley:

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