High Torque Values in MATLAB Inverse Dynamics

Hello,

I've been working with the inverse dynamics function in MATLAB and testing the Simulink block, but I'm encountering unusually high torque values. Even with normal velocity and acceleration inputs, the outputs are on the order of 10^6, which is far too large to be realistic. The torque unit should be in Nm, as the velocity is in rad/s and the acceleration in rad/s², so I don't understand where the discrepancy is coming from.

I suspect this could be due to incorrect dimensions or an issue with the setup. For the inertial values of the links, I assumed each link is a cylinder to simplify the calculations, which should provide reasonable approximations. I incorporated these inertial values into the URDF file, along with the visual and collision meshes using STL files for the geometry.

Has anyone encountered a similar issue or can provide insights into what might be causing this problem?

Thank you in advance for your assistance!

[William Rose]

@Denizhan AKINCI, please provide code and a description of the system you are studying. Point out the unreasonable outputs from the code. This will help others help you.

[Denizhan AKINCI]

Thank you for the answer, I was going to share it but then I found out that the problem was related to incorrect inertias which was causing high torques.