Inverse dynamics
TAU = rne(R,Q, QD, QDD) TAU = rne(R,Q, QD, QDD, GRAV) TAU = rne(R,Q, QD, QDD, GRAV, FEXT) TAU = rne(R,X) TAU = rne(R,X, GRAV) TAU = rne(R,X, GRAV, FEXT) [TAU,WBASE] = rne(R,X, GRAV, FEXT)
TAU = rne(R,Q, QD, QDD) is the joint torque required for the robot R to achieve the specified joint position Q, velocity QD and acceleration QDD.
TAU = rne(R,Q, QD, QDD, GRAV) as above but overriding the gravitational acceleration vector in the robot object R.
TAU = rne(R,Q, QD, QDD, GRAV, FEXT) as above but specifying a wrench acting on the end of the manipulator which is a 6-vector [Fx Fy Fz Mx My Mz].
TAU = rne(R,X) as above where X=[Q,QD,QDD].
TAU = rne(R,X, GRAV) as above but overriding the gravitational acceleration vector in the robot object R. TAU = rne(R,X, GRAV, FEXT) as above but specifying a wrench acting on the end of the manipulator which is a 6-vector [Fx Fy Fz Mx My Mz].
[TAU,WBASE] = rne(R,X, GRAV, FEXT) as above but the extra output is the wrench on the base.
If Q,QD and QDD (MxN), or X (Mx3N) are matrices with M rows representing a trajectory then TAU (MxN) is a matrix with rows corresponding to each trajectory step.
The robot base transform is ignored.
The torque computed contains a contribution due to armature inertia and joint friction.
RNE can be either an M-file or a MEX-file.
See the README file in the mex folder for details on how to configure MEX-file operation.
The M-file is a wrapper which calls either RNE_DH or RNE_MDH depending on the kinematic conventions used by the robot object.
Currently the MEX-file version does not compute WBASE.