rt_accel - compute manipulator forward dynamics[view code]
Return a vector of joint accelerations that result from applying the actuator torque to the manipulator robot with joint coordinates q and velocities qd.
The function 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.
// The following example shows how rt_accel() can be used to compute the // joint acceleration vector for a Puma 560 at rest in the zero angle // pose, with zero applied joint torques. exec <PATH>/models/rt_puma560.sce; // load Puma 560 parameters a = rt_accel(p560, qz, zeros(1,6), zeros(1,6)); disp(a.'); // However, to be useful for simulation this function must be integrated // and this is achieved by the toolbox function rt_fdyn() which uses the // Scilab function ode().
ode, rt_frne, rt_rne, rt_robot, rt_fdyn,
Corke, P.I. "A Robotics Toolbox for MATLAB", IEEE Robotics and Automation Magazine, Volume 3(1), March 1996, pp. 24-32
M.W. Walker and D.E. Orin. Efficient dynamic computer simulation of robotic mechanisms. ASME Journal of Dynamic Systems, Measurement and Control, 104:205-211, 1982