<< SerialLink SerialLink coriolis >>

Robotics_Toolbox >> Robotics_Toolbox > SerialLink > accel

accel

Manipulator forward dynamics

Calling Sequence

QDD = accel(R, Q, QD, TORQUE)
QDD = accel(R,X)

Description

QDD = accel(R, Q, QD, TORQUE) is a vector (Nx1) of joint accelerations that result from applying the actuator force/torque to the manipulator robot in state Q and QD. If Q, QD, TORQUE are matrices (KxN) then QDD is a matrix (KxN) where each row is the acceleration corresponding to the equivalent rows of Q, QD, TORQUE.

QDD = accel(R, X) as above but X=[Q,QD,TORQUE]

Notes

Bibliography

[1] Efficient dynamic computer simulation of robotic mechanisms, M. W. Walker and D. E. Orin,

[2] ASME Journa of Dynamic Systems, Measurement and Control, vol. 104, no. 3, pp. 205-211, 1982.

See also

Authors


Report an issue
<< SerialLink SerialLink coriolis >>