www.gusucode.com > 机器人工具箱 - robot源码程序 > robot\fdyn2.m
%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: FDYN % 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 xd = fdyn2(t, x, flag, robot, torqfun, varargin) n = robot.n; q = x(1:n); qd = x(n+1:2*n); % evaluate the torque function if one is given if isstr(torqfun) tau = feval(torqfun, t, q, qd, varargin{:}); else tau = zeros(n,1); end qdd = accel(robot, x(1:n,1), x(n+1:2*n,1), tau); xd = [x(n+1:2*n,1); qdd];