rne

RTSX Help: Recursive Newton Euler (RNE) algorithm

accel

Compute inverse dynamics of a robot using recursive Newton-Euler algorithm

Syntax

  • Tau = rne(robot, q, qd, qdd, grav, fext)

Input Arguments

  • robot — n-link robot data structure created with SerialLink( )
  • q — 1 x n joint position
  • qd — 1 x n joint velocity
  • qdd — n x 1 joint acceleration
  • grav* — gravitional acceleration vector
  • fext * — a 1 x 6 wrench vector [Fx Fy Fz Mx My Mz] acting on the tool end of the robot.

* Optional inputs

Output Arguments

  • Tau — 1 x n joint torque

Description

rne( ) computes inverse dynamics using Newton-Euler algorithm. The computed torque contains contribution from armature inertia and joint friction. The homogeneous transform of robot base is ignored.

Examples

-->exec('./models/mdl_puma560.sce',-1);
 -->Tq = rne(p560, q_n, q_z, q_z)
 Tq  = 
    0.    31.63988    6.035138    0.    0.0282528    0.  
-->Tq = rne(p560, q_n, [1 0 0 0 0 0], q_z) // joint 1 moving at 1 rad/s
 Tq  = 
  - 30.533206    32.267903    5.6743908  - 0.0003056    0.0282528    0.

See also