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arXiv · 2504.06106

A ROS2-based software library for inverse dynamics computation

Vincenzo Petrone·Enrico Ferrentino·Pasquale Chiacchio
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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.

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Vincenzo Petrone, Enrico Ferrentino, Pasquale Chiacchio. 2025-04-08. A ROS2-based software library for inverse dynamics computation. https://arxiv.org/abs/2504.06106

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