A ROS2-based software library for inverse dynamics computation

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 atthis https URL.

@article{petrone2025_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 }
}