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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 rne_dh</title> <meta name="keywords" content="rne_dh"> <meta name="description" content="RNE_DH Compute inverse dynamics via recursive Newton-Euler formulation"> <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="#">@robot</a> > rne_dh.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 ./@robot <img alt=">" border="0" src="../right.png"></a></td></tr></table>--><h1>rne_dh</h1><h2><a name="_name"></a>PURPOSE <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2><div class="box"><strong>RNE_DH Compute inverse dynamics via recursive Newton-Euler formulation</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 tau = rne_dh(robot, a1, a2, a3, a4, a5) </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">RNE_DH Compute inverse dynamics via recursive Newton-Euler formulation TAU = RNE(ROBOT, Q, QD, QDD) TAU = RNE(ROBOT, [Q QD QDD]) Returns the joint torque required to achieve the specified joint position, velocity and acceleration state. Gravity vector is an attribute of the robot object but this may be overriden by providing a gravity acceleration vector [gx gy gz]. TAU = RNE(ROBOT, Q, QD, QDD, GRAV) TAU = RNE(ROBOT, [Q QD QDD], GRAV) An external force/moment acting on the end of the manipulator may also be specified by a 6-element vector [Fx Fy Fz Mx My Mz]. TAU = RNE(ROBOT, Q, QD, QDD, GRAV, FEXT) TAU = RNE(ROBOT, [Q QD QDD], GRAV, FEXT) where Q, QD and QDD are row vectors of the manipulator state; pos, vel, and accel. The torque computed also contains a contribution due to armature inertia. RNE can be either an M-file or a MEX-file. See the manual for details on how to configure the MEX-file. The M-file is a wrapper which calls either RNE_DH or RNE_MDH depending on the kinematic conventions used by the robot object. See also: <a href="robot.html" class="code" title="function r = robot(L, a1, a2, a3)">ROBOT</a>, ACCEL, GRAVLOAD, INERTIA.</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="friction.html" class="code" title="function tau = friction(robot, qd)">friction</a> FRICTION Compute friction torque for a ROBOT object</li></ul>This function is called by:<ul style="list-style-image:url(../matlabicon.gif)"><li><a href="rne.html" class="code" title="function tau = rne(robot, varargin)">rne</a> RNE Compute inverse dynamics via recursive Newton-Euler formulation</li></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">%RNE_DH Compute inverse dynamics via recursive Newton-Euler formulation</span>0002 <span class="comment">%</span>0003 <span class="comment">% TAU = RNE(ROBOT, Q, QD, QDD)</span>0004 <span class="comment">% TAU = RNE(ROBOT, [Q QD QDD])</span>0005 <span class="comment">%</span>0006 <span class="comment">% Returns the joint torque required to achieve the specified joint position,</span>0007 <span class="comment">% velocity and acceleration state.</span>0008 <span class="comment">%</span>0009 <span class="comment">% Gravity vector is an attribute of the robot object but this may be</span>0010 <span class="comment">% overriden by providing a gravity acceleration vector [gx gy gz].</span>0011 <span class="comment">%</span>0012 <span class="comment">% TAU = RNE(ROBOT, Q, QD, QDD, GRAV)</span>0013 <span class="comment">% TAU = RNE(ROBOT, [Q QD QDD], GRAV)</span>0014 <span class="comment">%</span>0015 <span class="comment">% An external force/moment acting on the end of the manipulator may also be</span>0016 <span class="comment">% specified by a 6-element vector [Fx Fy Fz Mx My Mz].</span>0017 <span class="comment">%</span>0018 <span class="comment">% TAU = RNE(ROBOT, Q, QD, QDD, GRAV, FEXT)</span>0019 <span class="comment">% TAU = RNE(ROBOT, [Q QD QDD], GRAV, FEXT)</span>0020 <span class="comment">%</span>0021 <span class="comment">% where Q, QD and QDD are row vectors of the manipulator state; pos, vel,</span>0022 <span class="comment">% and accel.</span>0023 <span class="comment">%</span>0024 <span class="comment">% The torque computed also contains a contribution due to armature</span>0025 <span class="comment">% inertia.</span>0026 <span class="comment">%</span>0027 <span class="comment">% RNE can be either an M-file or a MEX-file. See the manual for details on</span>0028 <span class="comment">% how to configure the MEX-file. The M-file is a wrapper which calls either</span>0029 <span class="comment">% RNE_DH or RNE_MDH depending on the kinematic conventions used by the robot</span>0030 <span class="comment">% object.</span>0031 <span class="comment">%</span>0032 <span class="comment">% See also: ROBOT, ACCEL, GRAVLOAD, INERTIA.</span>0033 0034 <span class="comment">%</span>0035 <span class="comment">% verified against MAPLE code, which is verified by examples</span>0036 <span class="comment">%</span>0037 0038 <span class="comment">% Copyright (C) 1992-2008, by Peter I. Corke</span>0039 <span class="comment">%</span>0040 <span class="comment">% This file is part of The Robotics Toolbox for Matlab (RTB).</span>0041 <span class="comment">%</span>0042 <span class="comment">% RTB is free software: you can redistribute it and/or modify</span>0043 <span class="comment">% it under the terms of the GNU Lesser General Public License as published by</span>0044 <span class="comment">% the Free Software Foundation, either version 3 of the License, or</span>0045 <span class="comment">% (at your option) any later version.</span>0046 <span class="comment">%</span>0047 <span class="comment">% RTB is distributed in the hope that it will be useful,</span>0048 <span class="comment">% but WITHOUT ANY WARRANTY; without even the implied warranty of</span>0049 <span class="comment">% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>0050 <span class="comment">% GNU Lesser General Public License for more details.</span>0051 <span class="comment">%</span>0052 <span class="comment">% You should have received a copy of the GNU Leser General Public License</span>0053 <span class="comment">% along with RTB. If not, see <http://www.gnu.org/licenses/>.</span>0054 <a name="_sub0" href="#_subfunctions" class="code">function tau = rne_dh(robot, a1, a2, a3, a4, a5)</a>0055 0056 z0 = [0;0;1];0057 grav = robot.gravity; <span class="comment">% default gravity from the object</span>0058 fext = zeros(6, 1);0059 0060 <span class="comment">% Set debug to:</span>0061 <span class="comment">% 0 no messages</span>0062 <span class="comment">% 1 display results of forward and backward recursions</span>0063 <span class="comment">% 2 display print R and p*</span>0064 debug = 0;0065 0066 n = robot.n;0067 <span class="keyword">if</span> numcols(a1) == 3*n,0068 Q = a1(:,1:n);0069 Qd = a1(:,n+1:2*n);0070 Qdd = a1(:,2*n+1:3*n);0071 np = numrows(Q);0072 <span class="keyword">if</span> nargin >= 3, 0073 grav = a2(:);0074 <span class="keyword">end</span>0075 <span class="keyword">if</span> nargin == 4,0076 fext = a3;0077 <span class="keyword">end</span>0078 <span class="keyword">else</span>0079 np = numrows(a1);⌨️ 快捷键说明
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