Model used for the URDF

[skleff1994]

Hello,

Is it possible to know which dynamic model is used for the iiwa description ? I only found this identification paper in the literature, I was wondering if you are using these results for the URDF, or if you obtained the model parameters from a different source .

Best,
Sébastien

[rtkg]

Hi Sébastien, It’s a while ago that I did that model, but as far as I remember I took the inertia values from a CAD software assuming continuous density and reasonable guesstimates for the link masses. It’s not related to any structured system identification. Mit freundlichen Grüßen / Best regards Robert Krug Sensors Actuators (CR/AAS4) Robert Bosch GmbH | Postfach 10 60 50 | 70049 Stuttgart | GERMANY | www.bosch.com Tel. +49 711 811-92523 | Mobil +49 1520 2407853 | Telefax +49 711 811 | [email protected]<mailto:[email protected]> Sitz: Stuttgart, Registergericht: Amtsgericht Stuttgart, HRB 14000; Aufsichtsratsvorsitzender: Franz Fehrenbach; Geschäftsführung: Dr. Volkmar Denner, Prof. Dr. Stefan Asenkerschbaumer, Dr. Michael Bolle, Dr. Christian Fischer, Dr. Stefan Hartung, Dr. Markus Heyn, Harald Kröger, Christoph Kübel, Rolf Najork, Uwe Raschke, Peter Tyroller ​ Von: Sébastien Kleff <[email protected]> Gesendet: Freitag, 11. Dezember 2020 16:23 An: rtkg/lbr_iiwa <[email protected]> Cc: Subscribed <[email protected]> Betreff: [rtkg/lbr_iiwa] Model used for the URDF (#3) Hello, Is it possible to know which dynamic model is used for the iiwa description ? I only found this identification paper<https://eur03.safelinks.protection.outlook.com/?url=https%3A%2F%2Fwww.sciencedirect.com%2Fscience%2Farticle%2Fpii%2FS2405896317317147&data=04%7C01%7CRobert.Krug4%40de.bosch.com%7C1f56c00c0e0941a4bdf508d89de8b5d6%7C0ae51e1907c84e4bbb6d648ee58410f4%7C0%7C0%7C637432970090614267%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C1000&sdata=bkup%2BkSex0HlnmgH5jpC0gzKZFs0b%2BO0jrMMlfKezZs%3D&reserved=0> in the literature, I was wondering if you are using these results for the URDF, or if you obtained the model parameters from a different source . Best, Sébastien — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub<https://eur03.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2Frtkg%2Flbr_iiwa%2Fissues%2F3&data=04%7C01%7CRobert.Krug4%40de.bosch.com%7C1f56c00c0e0941a4bdf508d89de8b5d6%7C0ae51e1907c84e4bbb6d648ee58410f4%7C0%7C0%7C637432970090619255%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C1000&sdata=dqFPRClbXRXn3ksNKOOjVNoBjYaEc1pUxJnY2p2Ezno%3D&reserved=0>, or unsubscribe<https://eur03.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2Fnotifications%2Funsubscribe-auth%2FAAJXT5WXQM7XMUNXNFIFG7LSUI2O5ANCNFSM4UWZA26Q&data=04%7C01%7CRobert.Krug4%40de.bosch.com%7C1f56c00c0e0941a4bdf508d89de8b5d6%7C0ae51e1907c84e4bbb6d648ee58410f4%7C0%7C0%7C637432970090619255%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C1000&sdata=9k5je64qS21Ub4GBU56iZ19QaQ8CA3DmaImvreoxup8%3D&reserved=0>.

[skleff1994]

Ok, thank you very much for your answer !