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Subsections

inertia

Syntax

ReturnMatrix inertia(const ColumnVector & q);

Description

This function computes the robot inertia matrix $\mbox{\boldmath$ D(q) $}$. A simplified RNE version computing
$\displaystyle \mbox{\boldmath$ \tau $}$ $\textstyle =$ $\displaystyle \mbox{\boldmath$ D(q) $} \ddot{\mbox{\boldmath$ q $}}$ (2.69)

is implemented in the function torque_novelocity. By evaluating this equation $n$ times, one can compute $\mbox{\boldmath$ D(q) $}$.

Return Value

Matrix



Richard Gourdeau 2004-07-06