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ReturnMatrix acceleration(const ColumnVector & q,
const ColumnVector & qp,
const ColumnVector & tau);
ReturnMatrix acceleration(const ColumnVector & q,
const ColumnVector & qp,
const ColumnVector & tau_cmd,
const ColumnVector & Fext,
const ColumnVector & Next)
This function computes
from
,
and
which is the forward dynamics problem.
Walker and Orin [11] presented methods to compute the inverse dynamics.
A simplified RNE version computing
is implemented in the function torque_novelocity. By evaluating this equation
times,
one can compute
(the inertia function), use the full RNE to compute
and then solve the equation :
ColumnVector
Richard Gourdeau
2004-07-06