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Robotics_Toolbox >> Robotics_Toolbox > SerialLink > gravload

gravload

Gravity loading

Calling Sequence

TAUG = gravload(ROBOT,Q)
TAUG = gravload(ROBOT,Q, GRAV)

Description

TAUG = gravload(ROBOT,Q) is the joint gravity loading for the robot in the joint configuration Q. Gravitational acceleration is a property of the robot object.

If Q is a row vector, the result is a row vector of joint torques. If Q is a matrix, each row is interpreted as a joint configuration vector, and the result is a matrix each row being the corresponding joint torques.

TAUG = gravload(ROBOT,Q, GRAV) is as above but the gravitational acceleration vector GRAV is given explicitly.

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