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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/REC-html40/loose.dtd"><html><head> <title>Description of fdyn2</title> <meta name="keywords" content="fdyn2"> <meta name="description" content="FDYN2 private function called by FDYN"> <meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1"> <meta name="generator" content="m2html © 2003 Guillaume Flandin"> <meta name="robots" content="index, follow"> <link type="text/css" rel="stylesheet" href="./m2html.css"></head><body><a name="_top"></a><div><a href="./index.html">Home</a> > <a href="index.html">.</a> > fdyn2.m</div><!--<table width="100%"><tr><td align="left"><a href="./index.html"><img alt="<" border="0" src="./left.png"> Master index</a></td><td align="right"><a href="index.html">Index for . <img alt=">" border="0" src="./right.png"></a></td></tr></table>--><h1>fdyn2</h1><h2><a name="_name"></a>PURPOSE <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="box"><strong>FDYN2 private function called by FDYN</strong></div><h2><a name="_synopsis"></a>SYNOPSIS <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="box"><strong>function xd = fdyn2(t, x, flag, robot, torqfun, varargin) </strong></div><h2><a name="_description"></a>DESCRIPTION <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="fragment"><pre class="comment">FDYN2 private function called by FDYN XDD = FDYN2(T, X, FLAG, ROBOT, TORQUEFUN) Called by FDYN to evaluate the robot velocity and acceleration for forward dynamics. T is the current time, X = [Q QD] is the state vector, ROBOT is the object being integrated, and TORQUEFUN is the string name of the function to compute joint torques and called as TAU = TORQUEFUN(T, X) if not given zero joint torques are assumed. The result is XDD = [QD QDD]. See also: <a href="fdyn.html" class="code" title="function [t, q, qd] = fdyn(robot, t0, t1, torqfun, q0, qd0, varargin)">FDYN</a></pre></div><!-- crossreference --><h2><a name="_cross"></a>CROSS-REFERENCE INFORMATION <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2>This function calls:<ul style="list-style-image:url(./matlabicon.gif)"><li><a href="accel.html" class="code" title="function qdd = accel(robot, Q, qd, torque)">accel</a> ACCEL Compute manipulator forward dynamics</li></ul>This function is called by:<ul style="list-style-image:url(./matlabicon.gif)"></ul><!-- crossreference --><h2><a name="_source"></a>SOURCE CODE <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="fragment"><pre>0001 <span class="comment">%FDYN2 private function called by FDYN</span>0002 <span class="comment">%</span>0003 <span class="comment">% XDD = FDYN2(T, X, FLAG, ROBOT, TORQUEFUN)</span>0004 <span class="comment">%</span>0005 <span class="comment">% Called by FDYN to evaluate the robot velocity and acceleration for</span>0006 <span class="comment">% forward dynamics. T is the current time, X = [Q QD] is the state vector,</span>0007 <span class="comment">% ROBOT is the object being integrated, and TORQUEFUN is the string name of</span>0008 <span class="comment">% the function to compute joint torques and called as</span>0009 <span class="comment">%</span>0010 <span class="comment">% TAU = TORQUEFUN(T, X)</span>0011 <span class="comment">%</span>0012 <span class="comment">% if not given zero joint torques are assumed.</span>0013 <span class="comment">%</span>0014 <span class="comment">% The result is XDD = [QD QDD].</span>0015 <span class="comment">%</span>0016 <span class="comment">% See also: FDYN</span>0017 0018 <span class="comment">% Copyright (C) 1999-2008, by Peter I. Corke</span>0019 <span class="comment">%</span>0020 <span class="comment">% This file is part of The Robotics Toolbox for Matlab (RTB).</span>0021 <span class="comment">%</span>0022 <span class="comment">% RTB is free software: you can redistribute it and/or modify</span>0023 <span class="comment">% it under the terms of the GNU Lesser General Public License as published by</span>0024 <span class="comment">% the Free Software Foundation, either version 3 of the License, or</span>0025 <span class="comment">% (at your option) any later version.</span>0026 <span class="comment">%</span>0027 <span class="comment">% RTB is distributed in the hope that it will be useful,</span>0028 <span class="comment">% but WITHOUT ANY WARRANTY; without even the implied warranty of</span>0029 <span class="comment">% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>0030 <span class="comment">% GNU Lesser General Public License for more details.</span>0031 <span class="comment">%</span>0032 <span class="comment">% You should have received a copy of the GNU Leser General Public License</span>0033 <span class="comment">% along with RTB. If not, see <http://www.gnu.org/licenses/>.</span>0034 0035 <a name="_sub0" href="#_subfunctions" class="code">function xd = fdyn2(t, x, flag, robot, torqfun, varargin)</a>0036 0037 n = robot.n;0038 0039 q = x(1:n);0040 qd = x(n+1:2*n);0041 0042 <span class="comment">% evaluate the torque function if one is given</span>0043 <span class="keyword">if</span> isstr(torqfun)0044 tau = feval(torqfun, t, q, qd, varargin{:});0045 <span class="keyword">else</span>0046 tau = zeros(n,1);0047 <span class="keyword">end</span>0048 0049 qdd = <a href="accel.html" class="code" title="function qdd = accel(robot, Q, qd, torque)">accel</a>(robot, x(1:n,1), x(n+1:2*n,1), tau);0050 xd = [x(n+1:2*n,1); qdd];</pre></div><hr><address>Generated on Sun 15-Feb-2009 18:09:29 by <strong><a href="http://www.artefact.tk/software/matlab/m2html/">m2html</a></strong> © 2003</address></body></html>⌨️ 快捷键说明
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