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68 lines
2.4 KiB
68 lines
2.4 KiB
%SerialLink.rne Inverse dynamics
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%
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% TAU = R.rne(Q, QD, QDD) is the joint torque required for the robot R
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% to achieve the specified joint position Q, velocity QD and acceleration QDD.
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%
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% TAU = R.rne(Q, QD, QDD, GRAV) as above but overriding the gravitational
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% acceleration vector in the robot object R.
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%
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% TAU = R.rne(Q, QD, QDD, GRAV, FEXT) as above but specifying a wrench
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% acting on the end of the manipulator which is a 6-vector [Fx Fy Fz Mx My Mz].
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%
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% TAU = R.rne(X) as above where X=[Q,QD,QDD].
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%
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% TAU = R.rne(X, GRAV) as above but overriding the gravitational
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% acceleration vector in the robot object R.
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%
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% TAU = R.rne(X, GRAV, FEXT) as above but specifying a wrench
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% acting on the end of the manipulator which is a 6-vector [Fx Fy Fz Mx My Mz].
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%
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% If Q,QD and QDD, or X are matrices with M rows representing a trajectory then
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% TAU is an MxN matrix with rows corresponding to each trajectory state.
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%
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% Notes:
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% - The robot base transform is ignored
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% - The torque computed also contains a contribution due to armature
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% inertia.
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% - RNE can be either an M-file or a MEX-file. See the manual for details on
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% how to configure the MEX-file. The M-file is a wrapper which calls either
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% RNE_DH or RNE_MDH depending on the kinematic conventions used by the robot
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% object.
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%
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% See also SerialLink.accel, SerialLink.gravload, SerialLink.inertia.
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% TODO:
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% should use tb_optparse
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%
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% verified against MAPLE code, which is verified by examples
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%
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% Ryan Steindl based on Robotics Toolbox for MATLAB (v6 and v9)
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%
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% Copyright (C) 1993-2011, by Peter I. Corke
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%
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% This file is part of The Robotics Toolbox for MATLAB (RTB).
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%
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% RTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% RTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with RTB. If not, see <http://www.gnu.org/licenses/>.
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%
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% http://www.petercorke.com
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function [tau,f] = rne(robot, varargin)
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if robot.mdh == 0,
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[tau,f] = rne_dh(robot, varargin{:});
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else
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tau = rne_mdh(robot, varargin{:});
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end
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endfunction
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