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rne

Inverse dynamics

Calling Sequence

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)

Description

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.

Notes

See also

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