control.h

机器人运动学动力学及控制的一个小程序,供有兴趣的人参考

// Control.h: interface for the CControl class.
//
//////////////////////////////////////////////////////////////////////

#if !defined(AFX_CONTROL_H__686F4003_3598_4D83_8F79_5A20307AB55E__INCLUDED_)
#define AFX_CONTROL_H__686F4003_3598_4D83_8F79_5A20307AB55E__INCLUDED_

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000

#include "Dynamics.h"

class CControl  
{
public:
	CControl();
	virtual ~CControl();

public:
//定常增益矩阵
    CMatrix	  Kv;
//定常增益矩阵
    CMatrix	  Kp;
//期望加速度
    CMatrix   DesignDdx;
//期望速度
    CMatrix   Designdx;
//期望位置
    CMatrix   Designx;
//指向动力学类的指针
    CDynamics* lpDynamics;

public:
    CMatrix ControlTorqueCL(CMatrix dx,CMatrix x);
};

#endif // !defined(AFX_CONTROL_H__686F4003_3598_4D83_8F79_5A20307AB55E__INCLUDED_)