www.gusucode.com > 机器人工具箱 - robot源码程序 > robot\accel.m
%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: RNE, ROBOT, ODE45. % MOD HISTORY % 4/99 add object support % 1/02 copy rne code from inertia.m to here for speed % $Log: not supported by cvs2svn $ % $Revision: 1.3 $ % Copyright (C) 1999-2008, 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 qdd = accel(robot, Q, qd, torque) n = robot.n; if nargin == 2, q = Q(1:n); qd = Q(n+1:2*n); torque = Q(2*n+1:3*n); else q = Q; if length(q) == robot.n, q = q(:); qd = qd(:); end end % compute current manipulator inertia % torques resulting from unit acceleration of each joint with % no gravity. M = rne(robot, ones(n,1)*q', zeros(n,n), eye(n), [0;0;0]); % compute gravity and coriolis torque % torques resulting from zero acceleration at given velocity & % with gravity acting. tau = rne(robot, q', qd', zeros(1,n)); qdd = inv(M) * (torque(:) - tau');