Browsing NTNU Open by Author "Johannessen, Lill Maria"
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Robot Dynamics with URDF & CasADi
Johannessen, Lill Maria; Arbo, Mathias Hauan; Gravdahl, Jan Tommy (Chapter, 2019)Fast, accurate evaluation of the dynamics parameters is a key ingredient for accurate control, estimation, and simulation of robots. As these are time-consuming to compute by hand, a software library for generating the ...