Universal Robots Forum

Integrate Inverse Dynamics Model

Hi guys,

So I am trying to improve the accuracy of my robot and was thinking about building an inverse dynamics model. Then I could include it by the use of an feedforward controller to improve the overall control structure.

Since this requires very low level modifications of the controllers, my question is whether this is possible and what the best way to go about this is.
Do I need the ROS interface to get that kind of low level access or can this be done in an easier way?
Has someone maybe implemented something similar already?

Thanks for the help