基于ROS2的逆动力学计算库，支持仿真与真实机械臂
A ROS2-based software library for inverse dynamics computation
- 用抽象类+三种实现构建可扩展的逆动力学框架
- 适配仿真环境及UR10、Franka两款真实机械臂
- 适合机器人规划与控制开发人员快速集成使用
逆动力学计算是机器人控制、规划与仿真中的关键环节，用于求解实现期望运动所需的关节力矩。本文提出一个基于ROS2的软件库，用于求解机器人系统的逆动力学问题。该库以抽象类为核心，包含三种具体实现：一种用于模拟机器人，两种分别针对真实UR10和Franka机械臂。本工作旨在提供一个灵活、可扩展、与机器人无关的逆动力学解决方案，适用于仿真与实际应用场景中的规划与控制需求。相关代码已开源，地址为 https://github.com/unisa-acg/inverse-dynamics-solver/tree/rap。
原文摘要 · Abstract (English)
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.
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