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itorque

PURPOSE ^

ITORQUE Compute the manipulator inertia torque

SYNOPSIS ^

function it = itorque(robot, q, qdd)

DESCRIPTION ^

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.

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

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]);

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