ITORQUE Compute the manipulator inertia torque TAUI = ITORQUE(ROBOT, Q, QDD) Returns the n-element inertia torque vector at the specified pose and acceleration, that is, TAUI = INERTIA(Q)*QDD ROBOT describes the manipulator dynamics and kinematics. If Q and QDD are row vectors, the result is a row vector of joint torques. If Q and QDD are matrices, each row is interpretted as a joint state vector, and the result is a matrix each row being the corresponding joint torques. If ROBOT contains non-zero motor inertia then this will included in the result. See also: RNE, CORIOLIS, INERTIA, GRAVLOAD.
0001 %ITORQUE Compute the manipulator inertia torque 0002 % 0003 % TAUI = ITORQUE(ROBOT, Q, QDD) 0004 % 0005 % Returns the n-element inertia torque vector at the specified pose and 0006 % acceleration, that is, 0007 % TAUI = INERTIA(Q)*QDD 0008 % 0009 % ROBOT describes the manipulator dynamics and kinematics. 0010 % If Q and QDD are row vectors, the result is a row vector of joint torques. 0011 % If Q and QDD are matrices, each row is interpretted as a joint state 0012 % vector, and the result is a matrix each row being the corresponding joint 0013 % torques. 0014 % 0015 % If ROBOT contains non-zero motor inertia then this will included in the 0016 % result. 0017 % 0018 % See also: RNE, CORIOLIS, INERTIA, GRAVLOAD. 0019 0020 % Copyright (C) 1993-2008, by Peter I. Corke 0021 % 0022 % This file is part of The Robotics Toolbox for Matlab (RTB). 0023 % 0024 % RTB is free software: you can redistribute it and/or modify 0025 % it under the terms of the GNU Lesser General Public License as published by 0026 % the Free Software Foundation, either version 3 of the License, or 0027 % (at your option) any later version. 0028 % 0029 % RTB is distributed in the hope that it will be useful, 0030 % but WITHOUT ANY WARRANTY; without even the implied warranty of 0031 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 0032 % GNU Lesser General Public License for more details. 0033 % 0034 % You should have received a copy of the GNU Leser General Public License 0035 % along with RTB. If not, see <http://www.gnu.org/licenses/>. 0036 0037 function it = itorque(robot, q, qdd) 0038 it = rne(robot, q, zeros(size(q)), qdd, [0;0;0]);