Get Coriolis and Centrifugal Torques
SUMMARY
Get Coriolis and Centrifugal Torques returns the 6-element vector of joint torques arising from Coriolis and centrifugal effects at the current joint configuration and velocity.
These torques are a required component of model-based control laws that need to cancel velocity-dependent dynamics.
SUPPORTED ROBOTS
This skill is currently supported on Universal Robots only. Calling this method on other robot brands will raise a NotImplementedError.
The Skill
torques = robot.get_coriolis_and_centrifugal_torques()The Code
Example: Read Coriolis and Centrifugal Torques
Connect to the robot, read the torques, and log them.
from loguru import logger
from telekinesis.synapse.robots.manipulators import universal_robots
robot_ip = "192.168.1.2" # replace with your robot's IP
robot = universal_robots.UniversalRobotsUR10E()
# Connect
robot.connect(ip=robot_ip)
torques = robot.get_coriolis_and_centrifugal_torques()
logger.info(f"Coriolis and centrifugal torques (6 joints, N·m): {torques}")
# Disconnect
robot.disconnect()The Explanation of the Code
get_coriolis_and_centrifugal_torques evaluates the Coriolis and centrifugal term C(q, q̇)·q̇ of the robot's equations of motion at the given joint configuration q and joint velocity qd. Empty parameters default to the current robot state. The result is a 6-element vector of joint torques [Nm]. This vector is subtracted in model-based controllers to achieve linearization and decoupling.
How to Tune the Parameters
| Parameter | Type | Default | Description |
|---|---|---|---|
q | list[float] | [] | 6-element joint configuration [q1…q6] [deg]. Empty list uses the current configuration. |
qd | list[float] | [] | 6-element joint velocity [q̇1…q̇6] [deg/s]. Empty list uses the current velocities. |
Return Value
| Type | Description |
|---|---|
list[float] | 6-element vector of Coriolis and centrifugal torques [Nm]. |
Where to Use the Skill
- Model-based control — Cancel velocity-dependent dynamics in computed-torque controllers
- Dynamic analysis — Evaluate Coriolis effects at specific configurations and velocities
When Not to Use the Skill
Do not use Get Coriolis and Centrifugal Torques when:
- Only the mass matrix is needed — use Get Mass Matrix instead
- Only Jacobian information is needed — use Get Jacobian instead