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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 accel</title> <meta name="keywords" content="accel"> <meta name="description" content="ACCEL Compute manipulator forward dynamics"> <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> > accel.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>accel</h1><h2><a name="_name"></a>PURPOSE <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="box"><strong>ACCEL Compute manipulator forward dynamics</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 qdd = accel(robot, Q, qd, torque) </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">ACCEL Compute manipulator forward dynamics QDD = ACCEL(ROBOT, Q, QD, TORQUE) QDD = ACCEL(ROBOT, [Q QD TORQUE]) Returns a vector of joint accelerations that result from applying the actuator TORQUE to the manipulator ROBOT in state Q and QD. Uses the method 1 of Walker and Orin to compute the forward dynamics. This form is useful for simulation of manipulator dynamics, in conjunction with a numerical integration function. See also: <a href="rne.html" class="code" title="function tau = rne(robot, a1, a2, a3, a4, a5)">RNE</a>, ROBOT, ODE45.</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="rne.html" class="code" title="function tau = rne(robot, a1, a2, a3, a4, a5)">rne</a> RNE Compute inverse dynamics via recursive Newton-Euler formulation</li></ul>This function is called by:<ul style="list-style-image:url(./matlabicon.gif)"><li><a href="fdyn2.html" class="code" title="function xd = fdyn2(t, x, flag, robot, torqfun, varargin)">fdyn2</a> FDYN2 private function called by FDYN</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">%ACCEL Compute manipulator forward dynamics</span>0002 <span class="comment">%</span>0003 <span class="comment">% QDD = ACCEL(ROBOT, Q, QD, TORQUE)</span>0004 <span class="comment">% QDD = ACCEL(ROBOT, [Q QD TORQUE])</span>0005 <span class="comment">%</span>0006 <span class="comment">% Returns a vector of joint accelerations that result from applying the</span>0007 <span class="comment">% actuator TORQUE to the manipulator ROBOT in state Q and QD.</span>0008 <span class="comment">%</span>0009 <span class="comment">% Uses the method 1 of Walker and Orin to compute the forward dynamics.</span>0010 <span class="comment">% This form is useful for simulation of manipulator dynamics, in</span>0011 <span class="comment">% conjunction with a numerical integration function.</span>0012 <span class="comment">%</span>0013 <span class="comment">% See also: RNE, ROBOT, ODE45.</span>0014 0015 <span class="comment">% MOD HISTORY</span>0016 <span class="comment">% 4/99 add object support</span>0017 <span class="comment">% 1/02 copy rne code from inertia.m to here for speed</span>0018 <span class="comment">% $Log: not supported by cvs2svn $</span>0019 <span class="comment">% $Revision: 1.3 $</span>0020 0021 <span class="comment">% Copyright (C) 1999-2008, by Peter I. Corke</span>0022 <span class="comment">%</span>0023 <span class="comment">% This file is part of The Robotics Toolbox for Matlab (RTB).</span>0024 <span class="comment">%</span>0025 <span class="comment">% RTB is free software: you can redistribute it and/or modify</span>0026 <span class="comment">% it under the terms of the GNU Lesser General Public License as published by</span>0027 <span class="comment">% the Free Software Foundation, either version 3 of the License, or</span>0028 <span class="comment">% (at your option) any later version.</span>0029 <span class="comment">%</span>0030 <span class="comment">% RTB is distributed in the hope that it will be useful,</span>0031 <span class="comment">% but WITHOUT ANY WARRANTY; without even the implied warranty of</span>0032 <span class="comment">% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>0033 <span class="comment">% GNU Lesser General Public License for more details.</span>0034 <span class="comment">%</span>0035 <span class="comment">% You should have received a copy of the GNU Leser General Public License</span>0036 <span class="comment">% along with RTB. If not, see <http://www.gnu.org/licenses/>.</span>0037 0038 0039 <a name="_sub0" href="#_subfunctions" class="code">function qdd = accel(robot, Q, qd, torque)</a>0040 n = robot.n;0041 0042 <span class="keyword">if</span> nargin == 2,0043 q = Q(1:n);0044 qd = Q(n+1:2*n);0045 torque = Q(2*n+1:3*n);0046 <span class="keyword">else</span>0047 q = Q;0048 <span class="keyword">if</span> length(q) == robot.n,0049 q = q(:);0050 qd = qd(:);0051 <span class="keyword">end</span>0052 <span class="keyword">end</span>0053 0054 <span class="comment">% compute current manipulator inertia</span>0055 <span class="comment">% torques resulting from unit acceleration of each joint with</span>0056 <span class="comment">% no gravity.</span>0057 M = <a href="rne.html" class="code" title="function tau = rne(robot, a1, a2, a3, a4, a5)">rne</a>(robot, ones(n,1)*q', zeros(n,n), eye(n), [0;0;0]);0058 0059 <span class="comment">% compute gravity and coriolis torque</span>0060 <span class="comment">% torques resulting from zero acceleration at given velocity &</span>0061 <span class="comment">% with gravity acting.</span>0062 tau = <a href="rne.html" class="code" title="function tau = rne(robot, a1, a2, a3, a4, a5)">rne</a>(robot, q', qd', zeros(1,n)); 0063 0064 qdd = inv(M) * (torque(:) - tau');0065</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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