[ODE] How to measure the joint torque correctly
mangoj at hotmail.com
Thu Nov 16 09:39:00 MST 2006
I am a beginner of ODE. I would appreciate if you could show me
how to obtain the joint torque correctly.
As a simple test, I applied a force to one side of a link.
The other side is attached to a joint. I would like to
measure the torque at this joint. In my program, I have:
dJointFeedback* feedback = dJointGetFeedback(joint);
To obtain the magnitude of the torque, I tried two methods:
As I increased the applying force, the torque at the joint should
be increased monotonically. However, I got values such as:
... 2.8, 2.6, 2.6, 2.3, 15, 2.3, 4, 6.7, 6.3, 3.1, 5.4, 2.8, 4.2,...
Am I doing something wrong? Is this a bug of ODE?
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