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fdyn

Integrate forward dynamics

Calling Sequence

[T,Q,QD] = fdyn(ROBOT, T, TORQFUN)
[T,Q,QD] = fdyn(ROBOT, T, TORQFUN, Q0, QD0)
[T,Q,QD] = fdyn(ROBOT, T, TORQFUN, Q0, QD0, ARG1, ARG2, ...)

Description

[T1,Q,QD] = fdyn(ROBOT, T1, TORQFUN) integrates the dynamics of the robot over the time interval 0 to T and returns vectors of time TI, joint position Q and joint velocity QD. The initial joint position and velocity are zero. The torque applied to the joints is computed by the user function TORQFUN:

[T1,Q,QD] = fdyn(ROBOT, T1, TORQFUN, Q0, QD0) as above but allows the initial joint position and velocity to be specified.

The control torque is computed by a user defined function

TAU = TORQFUN(T, Q, QD, ARG1, ARG2, ...)

where Q and QD are the manipulator joint coordinate and velocity state respectively, and T is the current time.

[T1,Q,QD] = fdyn(ROBOT, T1, TORQFUN, Q0, QD0, ARG1, ARG2, ...) allows optional arguments to be passed through to the user function.

Notes

See also

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