A ROS2-based software library for inverse dynamics computation
Abstract
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.
Keywords
Cite
@article{arxiv.2504.06106,
title = {A ROS2-based software library for inverse dynamics computation},
author = {Vincenzo Petrone and Enrico Ferrentino and Pasquale Chiacchio},
journal= {arXiv preprint arXiv:2504.06106},
year = {2025}
}
Comments
6 pages, 8 figures