inverse_dynamics_solver

Software
Robot arms and industry
Library

A ROS 2 library for solving the inverse dynamics of serial manipulators, returning joint torques or dynamic matrices from joint positions, velocities and accelerations.

Made by Automatic Control Group @ UNISA, Italy (checked on github.com/unisa-acg (opens in a new tab)).

Source on GitHub: github.com/unisa-acg/inverse-dynamics-solver (opens in a new tab). Facts read at commit 566b3e9 (opens in a new tab).

Licenses

Code: BSD-3-Clause (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (BSD-3-Clause) at commit 566b3e9 (opens in a new tab), on 16 Oct 2026.
Commercial use: Yes

What it does

Provides a base library that is extended by three concrete solvers.
Includes a KDL-based solver for simulated robots described by a URDF file.
Includes a solver for the real UR10 robot.
Includes a solver for the real Franka Emika Robot (FER, also called Panda).
Accompanies a paper on a ROS 2-based software library for inverse dynamics computation.
Results are reproducible through the demos in the packages or a Code Ocean capsule.

Written by Robotheca from the project's README (opens in a new tab) at commit 566b3e9.

Getting started

Difficulty: Advanced
Hardware it needs, as the project states it: The UR10 and Franka solvers apply to those real robots.
How to start: The project's README (opens in a new tab)

Maintenance

Status: Maintained: a commit in the last 12 months
Newest commit: 17 Jun 2026 on main
Latest release: None published on GitHub

Checked on GitHub on 16 Oct 2026.

Robots that can run it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.