Hi, i having a project about control arm robot, and i'm research dynamic control ( computed torque control PD). If any projects used to do it in linuxcnc(machinekit? One thing i can do is write a C code to calculate Torque of joints. I dont know how to intergrate them into linuxcnc. It's great if there are some examples for reference because i'm still quite new in linuxcnc(machinekit) and embedded.
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