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Dynamics modeling using Rigid Body Dynamics Library (RBDL)

This repository provides a lightweight dynamics class based on an open-source dynamics library called RBDL, which contains some essential rigid body dynamics algorithms such as the Articulated Body Algorithm (ABA) for forward dynamics, Recursive Newton-Euler Algorithm (RNEA) for inverse dynamics and the Composite Rigid Body Algorithm (CRBA) for the efficient computation of the joint space inertia matrix. It further contains code for Jacobians, forward and inverse kinematics, handling of external constraints such as contacts and collisions, and closed-loop models [1]. The RBDL library is written in C++ and a wrapped version is also available in python.

The lightweight dynamics class contains a subset of methods available in RBDL such as the inverse dynamics, forward dynamics, Jacobian matrix, Forward kinematics, Inverse kinematics, etc. Two systems (a serial manipulator and a four-bar linkage mechanism) are modeled to demonstrate the steps required for creating dynamic models in RBDL. Both models are stock models found in the AMBF simulator. The dynamic models are further tested on the AMBF simulator by implementing a simple gravity compensation controller to evaluate the performance and accuracy of the dynamic model.

References:

[1] https://github.com/ORB-HD/rbdl-orb