Dynamic Model #1
Description
Hey, thanks for providing this very useful inertial parameters;
Here, I would like to know how you can get the symbolic expressions of M, C, G you provided.
Because I use Peter Corke's toolbox in matlab, which strictly uses the inertial parameters provided by your article, I don't know whether it is a problem with different DH parameters, and its definition is as this URL: https://github.com/petercorke/robotics-toolbox-matlab/blob/master/models/mdl_panda.m.
I get M, C, G by using different q, qdot, qdotdot, but the result of the calculation is different from the function like get_MassMatrix in matlab you provided, so I hope to know how your model is obtained? Should I use your model as the standard or your parameters?
Since I hope to use your model for control algorithm design, I look forward to receiving your reply.