accel

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accel

Compute forward dynamics of a robot manipulator

Syntax

  • qdd = accel(robot, q, qd, torque)

Input Arguments

  • robot — n-link robot data structure created with SerialLink( )
  • q — 1 x n joint position
  • qd — 1 x n joint velocity
  • torque — 1 x n torque input

Output Arguments

  • qdd — n x 1 joint acceleration

Description

accel( )computes the forward dynamics, the motion of manipulator in response to the forces/torques applied to its joints.

Examples

exec('./models/mdl_puma560.sce',-1);
qdd = accel(p560, q_n, q_z, [1 0 0 0 0 0])

See also