www.gusucode.com > 机器人工具箱 - robot源码程序 > robot\@robot\rne.m
%RNE 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: ROBOT, ACCEL, GRAVLOAD, INERTIA. % % verified against MAPLE code, which is verified by examples % % Copyright (C) 1992-2008, by Peter I. Corke % % This file is part of The Robotics Toolbox for Matlab (RTB). % % RTB is free software: you can redistribute it and/or modify % it under the terms of the GNU Lesser General Public License as published by % the Free Software Foundation, either version 3 of the License, or % (at your option) any later version. % % RTB is distributed in the hope that it will be useful, % but WITHOUT ANY WARRANTY; without even the implied warranty of % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the % GNU Lesser General Public License for more details. % % You should have received a copy of the GNU Leser General Public License % along with RTB. If not, see <http://www.gnu.org/licenses/>. function tau = rne(robot, varargin) if robot.mdh == 0, tau = rne_dh(robot, varargin{:}); else tau = rne_mdh(robot, varargin{:}); end