how to define 6 DOF of floating body?

Discussion in 'Modeling' started by Rian Jo, May 23, 2018.

  1. Hello,

    Practically with fixed body robot, when dynamics are calculated by using recursive newton-euler, each joint is defined as 1 hinge joint with a link so that the model has one joint parameter including mass, inertia. However, floating body robot has 6 DoF and it should be defined in one variable i suppose? I would like to know how you defined 6 DoF of floating body in the program when you calculate dynamics using RNE.

    Thank you.
  2. Emo Todorov

    Emo Todorov Administrator Staff Member