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Subsections

torque_cmd

Syntax

ReturnMatrix torque_cmd(Robot_basic & robot, const ColumnVector & qd,
                        const ColumnVector & qpd);

Description

This function sets the output torque for a desired joint position vector, $q_d$, and a desired joint velocity vector, $\dot{q}_d$.

Return Value

Matrix



Richard Gourdeau 2004-07-06